Justbot is 7 degrees of freedom (6 DOF arm and 1 DOF tool) articulated manipulator designed based on the DH parameters of the UR5e Cobot from Universal Robots. This was my final project for the ENPM662 (Introduction to Robot Modeling) course in the Fall 2022 semester.
Note: Above image is 2.5 times the actual simulation speed for demonstration purpose. Full clip of the above demo.
The robot is tasked with the removal of a laptop back cover by first unscrewing and then lifting the back cover.
cad/ consists of the Solidworks part and assembly files of the robot and tool plus Blender files of the same to export in DAE file format for the meshes.
code/ consists of a Python file and Jupyter Notebooks for calculating forward kinematics and the Jacobian for inverse kinematics.
dockerfile/ consists of the necessary files to build the Docker image of this project. The image can then be used to run the container as an executable for simulating in Gazebo. Building the Docker image locally is not recommended, an up-to-date image is available on Docker Hub.
image/ just consists of the GIF image used on the README page.
justbot/ and justool/ are the ROS packages for the arm and tool respectively. Justbot package has the move.py file which is the Python node that computes the inverse kinematics and publishes the joint values.
This project can only run on Linux at the moment in two ways:
This is the easiest, most convenient way to run the project demo as an executable. Docker (Linux) installation is required, to install refer the documentation.
Pull the Docker image of this project from Docker Hub.
docker pull armdocks/justbot
Run the container for running the Gazebo simulation.
docker run -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix armdocks/justbot
Tip: The -it argument can be omitted from the above command for a less verbose, clean terminal output.
Note: The simulation might lag when the Gazebo window opens maximized, shrink the window to improve frame rate.
This requires Ubuntu Focal (20.04) with ROS Noetic full desktop installation. Additional ROS packages that might be required are joint state and effort controller packages and the PyYAML Python package.
These additional packages can be installed by:
Joint state controllers package
apt install ros-noetic-joint-state-controller
Effort controllers package
apt install ros-noetic-effort-controllers
PyYAML package
pip3 install pyyaml
Assuming you have the catkin workspace setup,
Clone the repository to src/ folder of the target catkin workpace. Assuming this would be ~/catkin_ws/src/,
git clone https://github.com/armgits/justbot.git ~/catkin_ws/src/justbot_project
Make the Python files start.py and move.py in the src/ folder of justbot package executable.
sudo chmod +x ~/catkin_ws/src/justbot_project/justbot/src/move.py
sudo chmod +x ~/catkin_ws/src/justbot_project/justbot/src/start.py
Now you can build and source the packages.
After a successful build, run the simulation in Gazebo.
This can be done in a single line using the shell script justbot_execute.sh from dockerfile/ folder.
~/catkin_ws/src/justbot_project/dockerfile/justbot_execute.sh
Or manually,
In first terminal initialize the ROS master.
roscore
In a new, second terminal spawn the robot in Gazebo.
roslaunch justbot justbot_gazebo.launch
In a new, third terminal run the node to perform the task.
rosrun justbot move.py