Multi-robot coordination for handling objects in a moving conveyer belt: Trajectory planning and determining end-effector

Project Title

Multi-robot coordination for handling objects in a moving conveyer belt: Trajectory planning and determining end-effector

Project Area of Specialization RoboticsProject Summary

A coordinated multi-robot system is used whenever workloads extend the capacity of a single robot. Boost in payloads for such multi-robotic systems has been seen in the past. This project will focus on the design and coordination of three robotic arms that will assist each other with handling objects along a conveyer belt. Our main objective is to design such multi-robot coordination such that they work together to share the burden but do not disturb each other’s functioning. Our first step will be designing forward inverse kinematics of a single robotic arm. The next step encompassing kinematics would be the assembly and automation of the arm. The process would then further be replicated on two other arms to make a coordination setup of three arms. Coordination between all three arms and trajectory planning will be done to improve efficiency and seamless functioning. A python-based user interface will also be designed to help humans in customizing the functioning of the robotic arms.

Project Objectives

The core objectives of our project is

• AI based coordination between robots in a work environment.
• create an environment in which all workers (robots) can perform with maximum efficiency.
• develop an automation system for industrial sector.
• Revolutionize industrial sector.

Project Implementation Method

We will be using three Robots.

Initially we will assemble a single robotic arm and find its forward and reverse kinematics.we will use Microcontroller ESP32. Then we will design a PCB on which power source, microcontroller and all other connection for robotic arm will be placed.

We wil perform same procedure 2nd and 3rd robot.

Then we will create a coordination system in which robotic arms will pick and place objects on conveyer belt.

Benefits of the Project

This project will revolutionize the industrial sector of Pakistan

It will help reduce the errors that occur due to manual packaging.

The multi robotic system will increase the efficiency of industries thus reducing the work-load that stacks up due to errors.

It will help meet deadlines for product supplies.

It will be a low cost project as it will be assembled locally. The cost to buyer will be far less as compared to ones imported.

The project will promote made in Pakistan initiatives.

Technical Details of Final Deliverable

A multi-robotic-arm system will be designed that will help in seamless and efficient pacakging experience across a conveyer belt. Python language will be used for coding purposes. Microcontroller ESP32 will be used along with Arduino... 

The final product can be used in large scale packaging indistries to reduce the time period of activities performed on a conveyer belt.

Final Deliverable of the Project HW/SW integrated systemCore Industry ManufacturingOther Industries Education , Medical Core Technology RoboticsOther Technologies Artificial Intelligence(AI), Internet of Things (IoT)Sustainable Development Goals Quality Education, Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	80000
Robotic Arm	Equipment	3	15000	45000
PCB	Equipment	3	1400	4200
Microcontroller ESP 32	Equipment	3	1600	4800
Conveyer Belt	Equipment	1	10000	10000
Power Supply	Equipment	5	1000	5000
Wires and other items	Equipment	1	1000	1000
Printing, Stationary	Miscellaneous	1	10000	10000