UR5 Plays Jenga

Independent project for ME530.707 Spring 2018.

Author

Chia-Hung Lin - clin110

Tasks

1. Use camera to identify the location of the Jenga tower.
2. Probe and remove a block from the tower.
3. Put the extracted block back on top of the tower.

Objectives

1. No human intervention; the robot plays Jenga autonomously.
2. Play at least 6 blocks before collapsing. That is, reach at least 20 levels from the starting 18 levels. (Play a block: to extract a block and put it back on top of the tower.)
3. A 60 second time limit for the robot to play one block.

ROS Dependency

• ar_track_alvar - Track AR tags for the gripper and Jenga tower location. Used for hand-eye calibration and Jenga playing.
• ur_modern_driver - Improved driver for the UR5 robot.
• universal_robot - Meta package for UR robots. Used for kinematics and urdf.
• rosserial - Used to communicate with the Arduino-based end-effector on the robot via USB.

System Dependency

• v4l-utils - Driver for Logitech C920 cameras.

Package descriptions

• jenga_ur5_control - Define waypoints based on tower location identified via AR tags. Generate trajectory to reach a specified block location based on the waypoints.
• jenga_end_effector - Provides a-la-carte functionalities for the Arduino based end-effector.
• jenga_msgs - Provides control messages for the Arduino-based end-effector. To be used in tandem with jenga_end_effector package.