Design and Implementation of Pick and Place Robot Arm Using ROS on Raspberry Pi

Abstract

Pick and Place Robot arm is used in industry, mostly in manufacturing areas, product store and packaging areas. They reduce a remarkable time and effort. In Fincha Sugar Factory condensate water is preferred than the treated water for production of steam. Condensate water is a bled steam from evaporators, but as it passes many processes and transport to the boiler, sugar (glucose) content could be added at some point. This sugar containing condensate water then causes the boiler to burst and damage human life and/or materials. Currently, it is manually checked (in chemistry laboratory) every 30 minutes. This also couldn’t save the boilers, and so two of four boilers currently are out of production. But, if this manual examination of the water is replaced by automatic examination, the boiler could be durable and the factory could increase production. Although building the whole system could take a longer time, in this project the picking and placing the test cylinder part is done. The picking and placing task is designed to be done using two Degree of Freedom robot arm. The control of the arm is done by Robot Operating System (ROS) installing it on Raspberry Pi. Eight nodes are created, six nodes for each procedure for the execution, one node for control and one node for inverse kinematic solving server. Two topics are also created for communication of the current procedure and the goal procedure (stage). Arduino is used to actuate the servo motors of the arm which communicates through serial with Raspberry PI