ABB IRB120 Coppeliasim Moveit Simulation

Instructions

Porpose of simulation

• The porpose of simulation is to test our algorithms for our project E-waste Non destructive disassembly
• There are screw driver at the endeffector that can rotate at different speed integrated with 6 axis force sensor

Steps to run the simulation

When running the simulation theres a sequance you must follow

1. install the dependencies

rosdep install --from-paths src --ignore-src -r -y

2. install Coppeliasim of version EDU from the following link https://www.coppeliarobotics.com/downloads
3. Run roscore ⚠️you do this before running the simulator

cd <coppeliasim_folder>
cd src/CoppeliaSim/
./coppeliaSim.sh

• then open the scene you want at path ABB-IRB120-Coppeliasim-Moveit-Simulation/src/abb_irb_sim_v2/scene
  there 2 scene :
  • scene without camera (for controlling purpose)
  • scene with depth and RGB camera note : you can find the scene at ABB-IRB120-Coppeliasim-Moveit-Simulation/scr/abb_irb_sim_v2/scene

3. launch the sync and connector between moveit and coppeliasim after playing the simulator or press the play icon ▶️

cd ABB-IRB120-Coppeliasim-Moveit-Simulation
source devel/setup.bash
roslaunch sim_environment LaunchConnector.launch

⚠️ Warning

If you stopped the simulator in any case you must close moveit tool (step4) and close the sync and connector node after paly the simulator then re-open them again (repeat step 3)

Robot Photo

All robot

Endeffector

Robot control module

I have construct a python module that facilite the controling of the robot in moveit that called Robot_contol.py
the module contain two classes :

class RobotControl
'''
This class contain module that facilitate the controll of the robot using moveit 
'''

class frames_transformations
'''
this class is used to put and tarnsform frames in the tf tree
'''

Simulation video

How moveIt connected to Coppeliasim

coppelia_Moveit_sync.webm

Simulating Spiral search algorithim

konafabot.mp4