Simulación de bin-picking

The motion planning algorithm design workflow for a real-world cobot bin picking application. The rigid body tree considered in this example is for Universal Robots URe5 cobot with the added end-effector along with the suction gripper (Robotiq Vaccum Gripper - EPick).

Detailed workflow for simulating intelligent bin picking using Universal Robots UR5e cobot in Gazebo. The MATLAB project provided with this example consists of the Initialize, DataGeneration, Perception, Motion Planning, and Integration modules (project folders) to create a complete bin picking workflow.

Detailed workflow for intelligent bin picking using Universal Robots UR5e cobot. The MATLAB project provided with this example consists of the Initialize, Perception, Motion Planning, and Integration modules (project folders) to create a complete bin picking workflow.

Implement semi-structured intelligent bin picking of four different shapes of standard PVC fittings. This example uses Universal Robots UR5e for doing the bin picking task, and lets you successfully detect and classify the objects, and then use the suction gripper connected to the cobot to sort the picked up items in four different bins.

Simulation of an automated assembly to demonstrate virtual commissioning applications. The assembly line is based on a modular industrial framework created by ITQ GmbH known as Smart4i. This system consists of four components: two robotic workcells that are connected by a shuttle track and a conveyor belt. One of the two robots places cups onto the shuttle, while the other robot places balls in the cups. A slider then delivers those cups to a container. This simulation uses Stateflow® to control the system control and demonstrates how you can use Unreal Engine™ to simulate a complete virtual commissioning application in Simulink®. For an example showing how to deploy the main logic in Stateflow using Simulink PLC Coder™, see Generate Structured Text Code for Shuttle and Robot Control (Simulink PLC Coder).

Este ejemplo muestra cómo configurar un flujo de trabajo de pick-and-place de extremo a extremo para un manipulador robótico como Kinova® Gen3 y simular el robot en el simulador de física Gazebo.

Ejecute un flujo de trabajo de pick-and-place con el robot ABB YuMi, que muestra cómo diseñar algoritmos de robótica en Simulink® y, luego, simule la acción en un entorno de prueba con Simscape™. El ejemplo también muestra cómo modelar un sistema con diferentes niveles de fiabilidad para centrarse más en el diseño del algoritmo asociado.

Use CHOMP to plan smooth and collision-free trajectories for a pick-and-place workflow