Towards robot software abstraction: ROS 2-based framework for object handling within a robot cell

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dc.contributor.authorViso, Mikel Bueno
dc.contributor.authorHuang, Jingjing
dc.contributor.authorAsif, Seemal
dc.contributor.authorKhan, Fahad
dc.contributor.authorWebb, Phil
dc.date.accessioned2025-01-06T14:49:58Z
dc.date.available2025-01-06T14:49:58Z
dc.date.freetoread2025-01-06
dc.date.issued2024-08-18
dc.date.pubOnline2024-12-12
dc.descriptionThe source code, testing results and videos are available in IFRA-Cranfield’s GitHub: https://github.com/IFRA-Cranfield/ur10e_ConveyorPickPlace.
dc.description.abstractRecent advancements in industrial automation have led to the development of increasingly adaptable and reconfigurable systems, driven by the necessity for flexibility and efficiency in manufacturing. This paper introduces a ROS 2-based software framework tailored for object handling within a robot cell, addressing challenges pertaining to reconfigurability, modularity, and interoperability. The proposed solution simplifies the deployment process of robotic applications and provides a standardized ROS 2-based platform, making it particularly beneficial for small and medium automation enterprises that require frequent reprogramming and adaptation of robot cells to different settings. By ensuring software and hardware agnosticism, the framework presents a comprehensive pipeline for designing, developing, and deploying object pick-and-place applications, demonstrated through an automated kitting use-case where a robot sorts industrial spare parts from a conveyor belt using a simple camera. The system integrates real-time object detection and classification capabilities with ROS 2 to facilitate effective communication between perception and robot action. This research advocates for open-source solutions and collaboration, aiming to enhance the adaptability and efficiency of robotic solutions across diverse industrial applications.
dc.description.conferencename2024 IEEE 22nd International Conference on Industrial Informatics (INDIN)
dc.description.sponsorshipEngineering and Physical Sciences Research Council
dc.description.sponsorshipThis research is supported by EPSRC grant (EP/V051180/1) for the Reconfigurable Robotics for Responsive Manufacture - R3M Project.
dc.identifier.citationViso MB, Huang J, Asif S, et al., (2024) Towards robot software abstraction: ROS 2-based framework for object handling within a robot cell. In: 2024 IEEE 22nd International Conference on Industrial Informatics (INDIN), 18-20 August 2024, Beijing, China
dc.identifier.elementsID561027
dc.identifier.urihttps://doi.org/10.1109/indin58382.2024.10774307
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/23320
dc.language.isoen
dc.publisherIEEE
dc.publisher.urihttps://ieeexplore.ieee.org/document/10774307
dc.relation.isreferencedbyhttps://github.com/IFRA-Cranfield/ur10e_ConveyorPickPlace
dc.rightsAttribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subject40 Engineering
dc.subject46 Information and Computing Sciences
dc.subject4602 Artificial Intelligence
dc.subject4014 Manufacturing Engineering
dc.subject4608 Human-Centred Computing
dc.subject4612 Software Engineering
dc.subject9 Industry, Innovation and Infrastructure
dc.titleTowards robot software abstraction: ROS 2-based framework for object handling within a robot cell
dc.typeConference paper
dcterms.coverageBeijing, China
dcterms.dateAccepted2024-06-08
dcterms.temporal.endDate20 Aug 2024
dcterms.temporal.startDate18 Aug 2024

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