Niryo Ned One - Townend Joseph - Revision history

Robot at 09:45, 13 April 2025

2025-04-13T09:45:24Z

Robot: /* ROS code */

2024-01-15T11:15:53Z

‎ROS code

Robot at 10:54, 15 January 2024

2024-01-15T10:54:19Z

Robot: /* Conclusion */

2024-01-11T13:10:53Z

‎Conclusion

Robot: /* ROS code */

2023-12-23T15:24:08Z

‎ROS code

Robot: /* ROS code */

2023-12-23T15:23:36Z

‎ROS code

Robot: /* Further developments added */

2023-12-23T15:23:13Z

‎Further developments added

Robot at 15:11, 23 December 2023

2023-12-23T15:11:23Z

Robot at 15:10, 23 December 2023

2023-12-23T15:10:32Z

Robot: /* Further developments */

2023-12-07T21:35:05Z

‎Further developments

@@ Line 40: / Line 40: @@
 Added to this project is one of the proposed edits to the project that I have recently added. It comprises of a Dobot taking items off of a conveyor belt that stops when a UV sensor is disrupted. It then takes the blocks and checks the colour and sorts them. The code was also published in ROS programming language
-<youtube>6DXUZQQkKpg</youtube>
+<youtube>6DXUZQQkKpg</youtube><br>
 Video for the conveyor belt element
 ===ROS code===
 def scan_colour():
+    dType.SetPTPCmdEx(api, 0, 271.3141, 9.3845, 7.5857, 0, 1)
-dType.SetPTPCmdEx(api, 0, 271.3141, 9.3845, 7.5857, 0, 1)
+    dType.SetEndEffectorSuctionCupEx(api, 1, 1)
+    dType.SetWAITCmdEx(api, 1, 1)
-dType.SetEndEffectorSuctionCupEx(api, 1, 1)
+    dType.SetPTPCmdEx(api, 0, 183.4537, 54.7714, 34.58, 0, 1)
+    dType.SetWAITCmdEx(api, 1, 1)
-dType.SetWAITCmdEx(api, 1, 1)
+    if (dType.GetColorSensorEx(api, 0)) == 1:
+        dType.SetPTPCmdEx(api, 0, 175.4124, (-252.8005), (-29.5195), 0, 1)
-dType.SetPTPCmdEx(api, 0, 183.4537, 54.7714, 34.58, 0, 1)
+        print('red')
+        dType.SetEndEffectorSuctionCupEx(api, 0, 1)
-dType.SetWAITCmdEx(api, 1, 1)
+    elif (dType.GetColorSensorEx(api, 2)) == 1:
+        dType.SetPTPCmdEx(api, 0, (-29.6333), (-267.2832), (-29.436), 0, 1)
-if (dType.GetColorSensorEx(api, 0)) == 1:
+        print('blue')
+        dType.SetEndEffectorSuctionCupEx(api, 0, 1)
-dType.SetPTPCmdEx(api, 0, 175.4124, (-252.8005), (-29.5195), 0, 1)
+    elif (dType.GetColorSensorEx(api, 1)) == 1:
+        dType.SetPTPCmdEx(api, 0, 20.7189, (-263.2587), (-28.5473), 0, 1)
-print('red')
+        print('green')
+        dType.SetEndEffectorSuctionCupEx(api, 0, 1)
-dType.SetEndEffectorSuctionCupEx(api, 0, 1)
+    else:
+        dType.SetPTPCmdEx(api, 0, 101.2377, (-263.2587), (-31.5513), 0, 1)
-elif (dType.GetColorSensorEx(api, 2)) == 1:
+        print('other')
+        dType.SetEndEffectorSuctionCupEx(api, 0, 1)
-dType.SetPTPCmdEx(api, 0, (-29.6333), (-267.2832), (-29.436), 0, 1)
+    for count in range(3):
+        dType.SetPTPJointParamsEx(api,50,50,50,50,50,50,50,50,1)
-print('blue')
+        dType.SetEndEffectorParamsEx(api, 59.7, 0, 0, 1)
+        dType.SetPTPJumpParamsEx(api,20,100,1)
-dType.SetEndEffectorSuctionCupEx(api, 0, 1)
+        dType.SetInfraredSensor(api, 1 ,2, 1)
+        dType.SetColorSensor(api, 1 ,1, 1)
-elif (dType.GetColorSensorEx(api, 1)) == 1:
+        dType.SetEndEffectorSuctionCupEx(api, 0, 1)
+        dType.SetPTPCmdEx(api, 0, 200, 0, 40, 0, 1)
-dType.SetPTPCmdEx(api, 0, 20.7189, (-263.2587), (-28.5473), 0, 1)
+        STEP_PER_CRICLE = 360.0 / 1.8 * 10.0 * 16.0
+        MM_PER_CRICLE = 3.1415926535898 * 36.0
-print('green')
+        vel = float(0) * STEP_PER_CRICLE / MM_PER_CRICLE
+        dType.SetEMotorEx(api, 0, 0, int(vel), 1)
-dType.SetEndEffectorSuctionCupEx(api, 0, 1)
+        dType.SetWAITCmdEx(api, 3, 1)
+    while not (dType.GetInfraredSensor(api, 2)[0]) == 1:
-else:
+        dType.SetEMotorEx(api, 0, 1, 10000, 1)
 STEP_PER_CRICLE = 360.0 / 1.8 * 10.0 * 16.0
 MM_PER_CRICLE = 3.1415926535898 * 36.0
 vel = float(0) * STEP_PER_CRICLE / MM_PER_CRICLE
 dType.SetEMotorEx(api, 0, 0, int(vel), 1)
 scan_colour()

@@ Line 90: / Line 90: @@
 for count in range(3):
 dType.SetPTPJointParamsEx(api,50,50,50,50,50,50,50,50,1)
 dType.SetEndEffectorParamsEx(api, 59.7, 0, 0, 1)
 dType.SetPTPJumpParamsEx(api,20,100,1)
 dType.SetInfraredSensor(api, 1 ,2, 1)
 dType.SetColorSensor(api, 1 ,1, 1)
 dType.SetEndEffectorSuctionCupEx(api, 0, 1)
 dType.SetPTPCmdEx(api, 0, 200, 0, 40, 0, 1)
 STEP_PER_CRICLE = 360.0 / 1.8 * 10.0 * 16.0
 MM_PER_CRICLE = 3.1415926535898 * 36.0
 vel = float(0) * STEP_PER_CRICLE / MM_PER_CRICLE
 dType.SetEMotorEx(api, 0, 0, int(vel), 1)
 dType.SetWAITCmdEx(api, 3, 1)
 while not (dType.GetInfraredSensor(api, 2)[0]) == 1:
 dType.SetEMotorEx(api, 0, 1, 10000, 1)
 STEP_PER_CRICLE = 360.0 / 1.8 * 10.0 * 16.0
 MM_PER_CRICLE = 3.1415926535898 * 36.0
 vel = float(0) * STEP_PER_CRICLE / MM_PER_CRICLE
 dType.SetEMotorEx(api, 0, 0, int(vel), 1)
 scan_colour()

@@ Line 40: / Line 40: @@
 Added to this project is one of the proposed edits to the project that I have recently added. It comprises of a Dobot taking items off of a conveyor belt that stops when a UV sensor is disrupted. It then takes the blocks and checks the colour and sorts them. The code was also published in ROS programming language
-<youtube>6DXUZQQkKpg<\youtube>[https://youtu.be/6DXUZQQkKpg]
+<youtube>6DXUZQQkKpg</youtube>
 Video for the conveyor belt element

@@ Line 13: / Line 13: @@
 ==Conclusion==
-In conclusion, this project was successful at the task of sorting Lego bricks by their colour.
+In conclusion, this project was successful at the task of sorting Lego bricks by their colour. It could identify the colours on a regular basis, delivering the bricks into the predefined locations that they belonged. It all happened at a sufficient speed to ensure the automisation could be maintained as a viable alternative than human work.
 ==Further developments==

@@ Line 46: / Line 46: @@
 def scan_colour():
 dType.SetPTPCmdEx(api, 0, 271.3141, 9.3845, 7.5857, 0, 1)
 dType.SetEndEffectorSuctionCupEx(api, 1, 1)
 dType.SetWAITCmdEx(api, 1, 1)
 dType.SetPTPCmdEx(api, 0, 183.4537, 54.7714, 34.58, 0, 1)
 dType.SetWAITCmdEx(api, 1, 1)
 if (dType.GetColorSensorEx(api, 0)) == 1:
 dType.SetPTPCmdEx(api, 0, 175.4124, (-252.8005), (-29.5195), 0, 1)
 print('red')
 dType.SetEndEffectorSuctionCupEx(api, 0, 1)
 elif (dType.GetColorSensorEx(api, 2)) == 1:
 dType.SetPTPCmdEx(api, 0, (-29.6333), (-267.2832), (-29.436), 0, 1)
 print('blue')
 dType.SetEndEffectorSuctionCupEx(api, 0, 1)
 elif (dType.GetColorSensorEx(api, 1)) == 1:
 dType.SetPTPCmdEx(api, 0, 20.7189, (-263.2587), (-28.5473), 0, 1)
 print('green')
 dType.SetEndEffectorSuctionCupEx(api, 0, 1)
 else:
 dType.SetPTPCmdEx(api, 0, 101.2377, (-263.2587), (-31.5513), 0, 1)
 print('other')
 dType.SetEndEffectorSuctionCupEx(api, 0, 1)
 for count in range(3):
 dType.SetPTPJointParamsEx(api,50,50,50,50,50,50,50,50,1)

← Older revision		Revision as of 15:10, 23 December 2023
Line 36:		Line 36:

	Video of the code in operation		Video of the code in operation
		+
		+	==Further developments added==
		+	Added to this project is one of the proposed edits to the project that I have recently added. It comprises of a Dobot taking items off of a conveyor belt that stops when a UV sensor is disrupted. It then takes the blocks and checks the colour and sorts them. The code was also published in ROS programming language.
		+
		+	<youtube>6DXUZQQkKpg<\youtube>
		+	Video for the conveyor belt element

@@ Line 17: / Line 17: @@
 ==Further developments==
 Further developments that this project can undertake include the following:
 - Incorporate additional elements in the hardware to enable more automation. For example, have objects arriving on a conveyor belt that will stop when a UV light sensor is disturbed. This would allow for an endless amount of objects to be collected at a steady pace.
 - Create a method for aligning all of the objects so that they can be picked up effectively by a grabber. For example, if this was incorporated on the conveyor belt, then the objects could be filtered into the desired orientation before the grabber reaches them.
 - Limit the amount of light that the objects are exposed to. For example, this could be achieved by creating an enclosed environment that doesn't have background light, and a more sensitive light can be added to the head of the arm. This would reduce angle glare, thus allowing the camera to correctly identify the colour of the object.
 - Produce the program using ROS programming language. This would be effective because it allows for more modularity and flexibility in the code. It also allows more processes to happen.