UR10-Inverse-Velocity-Kinematics-PaletteBot

This ROS2 package provides control scripts for a robotic arm equipped with a customized gripper, designed for automated painting tasks. The package utilizes inverse velocity kinematics for precise control of the end-effector. For producing a stable jacobian around singularity positions, the Damped Least Squares Inverse method is used

Simulation

Tasking the UR10 to trace the contours of an image

Usage

Launch the gazebo world using:

• ros2 launch painter gazebo.launch.py

To run the different controllers, use the following commands:

• ros2 run painter wall_painter_controller.py: Paint along a wall using a linear trajectory.
• ros2 run painter toolpath_controller.py: Trace contours of an image using OpenCV.
• ros2 run painter circular_trajectory_controller.py: Draw a circle of radius 10cm at the origin.
• ros2 run painter line_trajectory_controller.py: Track a linear path from the initial position to a desired point.

Controller Descriptions

wall_painter_controller

This controller implements a linear trajectory along a wall. It plans a linear path between the end-effector position and the starting point of the wall. The add_segment() function is used to plan a wall trajectory between a set of points.

toolpath_controller

This controller traces contours of an image using OpenCV. The contours are obtained from images in the /images folder and returned as a numpy array. The end-effector then traces out these contours.

circular_trajectory_controller

This controller draws a circle of radius 10cm. The circle is initially drawn at the origin and then transformed in terms of the end-effector coordinates by multiplying it with the Final Transformation Matrix.

line_trajectory_controller

This controller tracks a linear path from the initial position of the end-effector to a desired point.