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Flexible Manufacturing System with Baxter Robot

The objective is to synthesize and implement a control system for laboratory flexible manufacturing line with Baxter robot as a central resource. In such a discrete event system, each Baxter’s hand represents a shared resource, but software design needs to allow seamless addition of other resources as well. Control framework, based on discrete event theory, needs to be implemented in both simulation and in the real system using ROS environment, and it needs to enable user to easily modify manufacturing sequence and test different control algorithms. Further, the goal is to improve robustness of objects transfer from different locations within the manufacturing line, and to implement task assignment algorithm using dynamical programming with different optimization criteria.

Baxter Research Robot; ROS; client-server interface; OptiTrack; dynamic programming

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