Open-Source Integration Environment for Industrial Robot Arm NACHI MZ04 with ROS

This research proposes an alternative strategy for the development of an open-source robot integration environment capable of providing an open communication, motion control and visualization interface for the NACHI MZ04 industrial robot. This environment is intended for conducting academic studies and industrial integration testing and evaluation. The integration environment allows modernization of the robotic system through the Robot Operating System (ROS) framework, and TCP/IP protocol. Additionally, a people detection system was integrated to avoid collisions between the industrial robot and users, through the use of IP cameras and the YOLOV8 image processing algorithm. Likewise, a motion control interface and a low-level controller were created for planning trajectories, controlling gripper opening/closing, among other tasks. As a complement, a graphical user interface (GUI) was implemented in which the main data of the integration environment is displayed, using the Custom Tkinter library.