Robot Simulation Program - README

Team Members: Damian Dhesi, Reza Mousakhani, Shiv Panchal

Project Intro

The project uses Python to link image processing and robotic control, creating an automated system for drawing images. The process begins with a Python script that analyzes a given image, extracts key points or contours, and converts them into a set of coordinates. These coordinates represent the critical features of the image and are optimized to ensure smooth transitions between points. The resulting points are then passed to a collaborative robot (Cobot), which interprets these instructions and moves along a predefined static Z-plane to draw the image.

Class Diagram (if PDF doesnt work)

Prerequisites

Ensure the following software and tools are installed on your system:

1. Java Development Kit (JDK)

   • Version: JDK 23
   • Download JDK 23

2. Integrated Development Environment (IDE)

   • Recommended: IntelliJ IDEA
   • Download IntelliJ IDEA

3. Docker Desktop

   • Download Docker Desktop

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Installation and Setup

Step 1: Clone the GitHub Repository

1. Open your terminal or command prompt.
2. Navigate to the directory where you want to clone the repository.

   cd /path/to/your/directory

3. Clone the repository:

   git clone <repository_url>

Step 2: Open the Project in IntelliJ IDEA

1. Launch IntelliJ IDEA.
2. Select Open and navigate to the directory where the repository was cloned.
3. Click OK to open the project.

Step 3: Start the Docker Container

1. Open Docker Desktop and ensure it is running.
2. Open your terminal.
3. Run the following command to start the robot simulation container:

   docker run --rm -it -e ROBOT_MODEL=UR3e -p 5900:5900 -p 30001:30001 -p 30002:30002 -p 30004:30004 -p 6080:6080 --name ur3e_container universalrobots/ursim_e-series

Step 4: Connect to the Robot Simulation

1. Open your browser and go to:

   http://localhost:6080/vnc.html
   

2. Click Connect to connect with the robot simulation.

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Running the Program

1. In IntelliJ IDEA, run the program from the Run menu or by pressing Shift + F10.
2. Once the program starts:
   • Click File in the menu bar.
   • Select Upload and choose an image file to upload.
   • The outline of the image will appear.
3. To start the simulation:
   • Click Simulation in the menu bar.
   • Select Start Simulation.
4. A pop-up message will confirm the connection: You have connected.
5. Go back to your browser on http://localhost:6080/vnc.html to observe the simulation.

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Notes

• Ensure Docker Desktop is running before executing the Docker command.
• The simulation requires an active internet connection to fetch the Docker image if not already available locally.
• For any issues, consult the repository's documentation or contact the developer.

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License

This project is licensed under the MIT License. See the LICENSE file for more details.