Скачать или смотреть Pick and Place Task - ROS2 Robot Simulation and Control (ABB IRB120 + Schunk EGP-64)

In this video, we showcase the pick and place task of 4 small cubes using an ABB IRB120 robot with a Schunk EGP-64 parallel gripper. The sequence is first of all tested and validated through Gazebo, and then executed in the Real Cell.

As it can be seen in the video, the Robot executes the sequence in both the Gazebo Simulation and the Real Cell in the exact same way, demonstrating that the ROS2+Gazebo combination is a really powerful tool to test and validate Robot Programs even before the Real Cell has been deployed.

*** The (small) time difference between both executions (Gazebo Simulation is a bit slower) is due to the small delay it is needed for the IFRA_LinkAttacher Plugin to activate the grasping feature in simulation.

To access the source code and instructions on how to achieve and execute the simulation, control and execution tasks, check out the ros2_SimRealRobotControl repository on GitHub.

To access the source code of the object grasping Gazebo-ROS2 plugin, check out the IFRA_LinkAttacher repository on GitHub.

References -

IFRA (2022) ROS2 Robot Simulation. URL:
https://github.com/IFRA-Cranfield/ros...

IFRA-Cranfield (2023) ROS2 Sim-to-Real Robot Control. URL:
https://github.com/IFRA-Cranfield/ros...

IFRA-Cranfield (2023) Gazebo-ROS2 Link Attacher. URL:
https://github.com/IFRA-Cranfield/IFR...

(c) IFRA Research Group
Centre for Robotics and Assembly
School of Aerospace, Transport and Manufacturing (SATM)
Cranfield University
[email protected]

Credits -
Researcher: Mikel Bueno Viso ([email protected])
Supervisor: Dr. Seemal Asif ([email protected])
Supervisor: Prof. Phil Webb ([email protected])