ARIAC: Agile Robotics for Industrial Automation Competition

Developed a comprehensive control software stack for a dual-arm UR10 gantry robot to autonomously fulfill shipment orders in a high-fidelity Gazebo manufacturing simulation . The system utilized ROS Melodic to interface with a suite of industrial sensors (logical cameras, break beams, laser profilers) and manage complex agility challenges in real-time.

Key Technical Contributions:

• Dynamic Preset Locations: Engineered a flexible positioning system that adapts static joint configurations based on live logical camera coordinates. This solved reachability issues for parts placed irregularly on shelves, ensuring 100% pick success rates.

• Conveyor Belt Tracking: Implemented a timing-based pick-and-place algorithm using break-beam sensors to successfully retrieve moving parts (pistons, gears) from a live conveyor belt.

• Faulty Part Recovery: Designed a quality-control loop that detects faulty parts via AGV sensors, autonomously discards them, and retrieves replacements without interrupting the overall workflow.

• Agility Handling: Automated complex maneuvering tasks, including flipping parts via dual-arm coordination and handling gripper malfunctions.

More detailed report link can be found here.