Edge AI-Driven Multi-Camera System for Adaptive Robot Speed Control in Safety-Critical Environments

Real-World Implementation for "Edge AI-Driven Multi-Camera System for Adaptive Robot Speed Control in Safety-Critical Environments"

Video.Project.7.mp4

Packages

1. Robot-Speed-Control

• Description: ROS packages for simulation-based adaptive speed control of the Universal Robots UR3 robotic arm.
• Source: Robot-Speed-Control

2. Robotiq-Gripper

• Description: ROS packages for Robotiq gripper control and integration.
• Source: robotiq

Prerequisites

• This repository assumes that Robot-Speed-Control has already been set up in your ROS workspace.
• For additional packages such as robotiq, please refer to their original repositories for dependency installation and setup instructions.
• Place each package in the appropriate location according to your local workspace structure.

System Bring-Up Procedure

Notes

• Replace <YOUR_ROBOT_IP> with the actual IP address of the UR3 robot (e.g., robot_ip:=172.16.0.2).
• Replace <YOUR_CAMERA1_SERIAL> and <YOUR_CAMERA2_SERIAL> with the serial numbers of the RealSense cameras (e.g., serial_no:=920312072876).
• Before running align_depth_to_color.py, update the depth subscriber in the script to match your RealSense depth topic.
• Before running rosrun ur_control real_ur_control.py, place real_ur_control.py in ur3/ur_control/scripts.
• Make sure the robot, gripper, and cameras are connected before running the commands.
• Run commands in separate terminals when necessary.

1. UR3 and Gripper Bring-up

roslaunch ur_gripper_description bringup_with_gripper_85.launch robot_ip:=<YOUR_ROBOT_IP>

roslaunch robotiq_control cmodel_simple_controller.launch ip:=<YOUR_ROBOT_IP>

rosrun robotiq_control Gripper_Control.py

roslaunch ur_gripper_85_moveit_config start_moveit.launch

2. RealSense Camera Bring-up

roslaunch realsense2_camera rs_camera.launch serial_no:=<YOUR_CAMERA1_SERIAL> camera:=camera1

roslaunch realsense2_camera rs_camera.launch serial_no:=<YOUR_CAMERA2_SERIAL> camera:=camera2

3. YOLO-Based Human Distance Measurement via Depth-Color Alignment

cd catkin_ws/src/Robot-Speed-Control/yolov5/segment
python3 predict.py --conf 0.7

rosrun realsense2_camera align_depth_to_color.py

rosrun realsense2_camera depth_distance_seg.py

4. Adaptive Speed Control for UR3 Waypoint Motion

rosrun ur_control real_ur_control.py

License

Each package within this repository is distributed under its respective license. Please refer to each package's original repository for specific licensing information.