Intelligent Bin Picking in MATLAB® with Universal Robots UR5e Cobot for a semi-structured object distribution

An Intelligent Bin Picking application consists of a perception algorithm to detect objects and a motion planning algorithm that creates the trajectory path of the robot to pick up the object. First the positions and orientations of the objects lying in the bin are identified from the Camera images using Deep Learning based Image processing capability from Computer Vision Toolbox. The calculated pose is then passed to motion-planning algorithm as an input which plans the path and the trajectory is generated for the Cobot to pick the objects from the bin and place it. Using the Robotics System Toolbox™ Support Package for Universal Robots UR Series Manipulators, you can establish ROS communication with Universal Robots manipulators and send the generated trajectory for the Cobot to pick up and place the objects at a destination location.

MathWorks Products (https://www.mathworks.com)

Requires MATLAB® release R2022b or higher

• MATLAB®
• Robotics System Toolbox™
• ROS Toolbox
• Computer Vision Toolbox™
• Image Processing Toolbox™
• Deep Learning Toolbox™
• Optimization Toolbox™
• Statistics and Machine Learning Toolbox™
• Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators

Optional Products

• MATLAB Coder™
• Computer Vision Toolbox Model for YOLO v4 Object Detection

Installation

Installation instructions

1. MATLAB installation: Visit installation instructions webpage to get started with the MATLAB installation process.
2. Support package installation: Before proceeding, ensure that the products mentioned under MathWorks Products above are installed. To install the Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators, follow the steps mentioned here.

Examples

To learn how to communicate with UR Series cobots over ROS, see Getting Started with Connecting and Controlling a UR5e Cobot from Universal Robots.

If you want to use Intelligent Bin Picking on Universal Robot with Simulink® see the example Intelligent Bin Picking with Simulink for Universal Robots

License

The license is available in the License file within this repository.

Community Support

You can post your queries on the MATLAB Central page for the support package. You can also add your questions at MATLAB Answers.

To report any issue, contact - MathWorks Technical Support.

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