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csa.html
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<!DOCTYPE HTML>
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<title>Cutlery Sorting Arm</title>
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<a href="index.html" class="logo"><strong>Cutlery Sorting Arm</strong></a>
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<br><br>
<p>This is fully ROS integrated 4 DOF robotic arm, with a base that is capable of yaw motion and the other 3
DOF's are planar. It's main purpose is to sort cutlery like spoon,forks,chopsticks etc. This project was done
in collaboration with NTU,Singapore. I worked on arm control for which I used move_it and ROS framework. Cutlery identification was done
using an on arm-camera and Deep Learning based Models.</p>
<p>The complete package including the URDF and move_it files can be found at <a
href="https://github.com/Robotics-Club-IIT-BHU/ntu-maerc/a1" target="_blank" rel="noopener">Cutlery
Sorting Arm</a>.</p>
<h2 style="font-weight: bold !important;" id="arm-control">Arm control</h2>
<p>The arm control is a implementation of move_it planning framework on a custom URDF. Also we have used a
custom IK algorithm as there was no IK solver algorithm for 4 DOF arm in move_it</p>
<p>A small demo is given beliow showing the working of arm control:</p>
<p align="center"><iframe src="https://drive.google.com/file/d/1cGbHo7NkO0HRuz2-_trQoQoHL05KnxYI/preview" width="700"
height="500"></iframe></p>
<p align="center"><i>fig 2: Short Demonstration Of Move_it</i></p>
<ul>
As you can see we provide end goal to move_it which then computes all possible paths and gives the
shortest and most feasible path. This is then published to arm controllers ad hence the movement in gazebo.
</ul>
<h2 style="font-weight: bold !important;" id="simulation">Hardware Design and Object Identification</h2>
<p>We have made a custom design using Solid Works and conducted multiple tests in simulators like
Gazebo,Pybullet for ensuring it's physical durablity.</p>
<p style="text-align:center;">
<img style="width:500px;height:500px;" src="images/csa_design.png" alt="CSA" class="center">
</p>
<p>We use Mask R-CNN, or Region-Based Convolutional Neural Network which is capable of achieving
state-of-the-art results on a range of object detection tasks. So,basically the model tells the positon and
type of object to ROS framework which then calculates start and end goal accordingly.
<p style="text-align:center;">
<img style="width:500px;height:500px;" src="images/csa_g.png" alt="CSA" class="center">
</p>
</p>
<p align="center">
<i>fig 3:Knife Detection</i>
</p>
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