Autonomous_pick_and_place_robot

This repository contains the script for an autonomous scara robot which is capable of picking parcel packages from a tote and placing them on a conveyor in warehouse. The autonomous operation is fully hardcoded in python. Yolov8 deep learning object detection algorithm is used to detect parcels.

Installation:

1. Opencv

pip install opencv-python

2. Ultralytics

pip install ultralytics

2. Pyserial

pip install pyserial

3. Pyrealsense2

pip install pyrealsense2

4. Pytorch and Cuda (Latest)

To install Pytorch and Cuda 11.8

Code:

1. Arduino Code: The motor control code is available in \Arduino_Code\Arduino_Code.ino.

2. \scara python\ardu_control.py contains the script for motor contorl and inverse kinematic for the scara robot.

3. \scara python\detection.py contains the script for computer vision, object detection and Intel realsense camera pipeline.

4. \scara python\main.py contains the main loop for the autonomous operation.

5. \scara python\yolo_weights contains the yolov8 custom trained weight file.

Tele-Operation:

For More information check: \Tele-operation\readme.md

Object Detection:

Electronics used:

Future works:

1. Imitation learning implementation.