Development of a robotic application for medical hose manipulation and quality control

In this thesis a possible solution to automatize the cutting process and the quality check of medical use catheters is introduced. The aim is to avoid the operation to be performed from human operators. To do that an UR5 robotic arm for catheters handling and an Arduino controlled platform to manage the cut have been used. The control software was build in two different modules, the C++ control of the cutting station and the Python remote control of the robotic arm, both communicating by standard digital inputs and outputs. The quality check process required the implementation of a feedback control on the robotic arm position to properly acquire catheters images at the microscope. Obtained results are shown at the end of the paper.