Week 23/06/2024 - 29/06/2024

Preliminary Studies

Search for journals related to my selected topic. Keywords used to search for journals are:

1. Robot arm object manipulation. 
2. Robot arm object grasping

Some journals found that seems significant to the project are:

1. RGBGrasp: Image-Based Object Grasping by Capturing Multiple Views During Robot arm Movement With Neural Radiance Fields (https://ieeexplore.ieee.org/abstract/document/10517376)
2. A Vision-Based Robot Grasping System (https://ieeexplore.ieee.org/abstract/document/9745523)
3. Visual-Guided Robotic Object Grasping Using Dual Neural Network Controllers (https://ieeexplore.ieee.org/abstract/document/9095225)
4. Object Detection Recognition and Robot Grasping Based on Machine Learning: A Survey (https://ieeexplore.ieee.org/abstract/document/9212350)
5. Vision-Based Robotic Arm Control Algorithm Using Deep Reinforcement Learning for Autonomous Objects Grasping (https://www.mdpi.com/2076-3417/11/17/7917)
6. Robotic object recognition and grasping with a natural background (https://journals.sagepub.com/doi/full/10.1177/1729881420921102)
7. Modeling, learning, perception, and control methods for deformable object manipulation (https://www.science.org/doi/full/10.1126/scirobotics.abd8803)

Find out more about the UR5 robot that I intend to use for this project by going through some videos on YouTube:

1. Universal Robot UR5 Operations Review (https://www.youtube.com/watch?v=Sk9AdsUy4SQ)

Hardware Setup

Robot arm = UR5

Camera = Intel Real Sense Depth Camera

Some examples found that are of interest:

Example system setup from "A Vision-Based Robot Grasping System"

Example system setup from "RGBGrasp: Image-Based Object Grasping by Capturing Multiple Views During Robot Arm Movement With Neural Radiance Fields"

26/06/2024

At the workshop we attended today, we were asked to determine our objectives and goals for the project:

Objective

By the end of this project, I would have investigated if a robot system is able to pick an object based on spoken instruction through vision and then place the item picked onto the speaker’s palm within 15 seconds.

Goals

Investigate if:

1. Robot arm is able to identify object based on speech and vision

2. Robot is able to automatically grasp objects through vision. 

3. Robot is able to grasp objects of different shapes and sizes

4. Robot is able to grasp an object in a different orientation.

5. Place the object onto the palm of a person.