This project is done as Lappeenranta-Lahti University of Technology (LUT) Master’s thesis on Mechanical engineering at HAMK Tech research unit Robotics Group on the topic “Automation of mobile articulated manipulator in dynamic environment” by Narayan Panthi.
This experiment simulates a scenario, where a sheet metal plate of (1.5 x 1.0) m would be placed over the table for drilling. A single marker sticker would be tagged on the plate to define a location for the hole using an overhead camera. The drill position around the plate are generated using a pattern from the sticker point defining each point as a set of coordinates in relation to table’s center point. The location of table’s center is also defined in reference to the mapping on mobile robot (MIR200). Drill positions are sorted into quadrants to target from different locations around the table. MIR and drill position are calculated, transformed into global frame and sent to MIR. After the mobile robot has reached the location, serial robot (UR16e) activates and requests for drill coordinates. Client program running on python, transforms the location of drill coordinate relative to UR base frame and sends the pose values. The UR end-effector moves to the position, sequentially targeting all the holes that fall inside that quadrant. The process is in loop until task is completed.