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| ur10_robot_arm:ur10_robot_arm [2023/02/28 02:35] – [Installation] formlab | ur10_robot_arm:ur10_robot_arm [2023/04/17 03:40] (current) – [RoboDK] formlab |
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| * [[https://www.zacobria.com/pdf/universal_robots_zacobria_hints_and_tips_manual_1_4_3.pdf|Hints and tips by Zacobria]] | * [[https://www.zacobria.com/pdf/universal_robots_zacobria_hints_and_tips_manual_1_4_3.pdf|Hints and tips by Zacobria]] |
| ===== Software ===== | ===== Software ===== |
| | * [[ur10_robot_arm:ur10_robot_arm#polyscope_the_teaching_pendant|Polyscope (the teaching pendant)]] |
| ==== Teaching pendant (Polyscope) ==== | * [[ur10_robot_arm:ur10_robot_arm#grasshopper|Grasshopper]] |
| | * [[ur10_robot_arm:ur10_robot_arm#robodk|Rodo-DK]] |
| | * Other possible control software |
| | * Python |
| | * [[https://etasl.pages.gitlab.kuleuven.be/|eTaSL]] |
| | ==== Polyscope (the teaching pendant) ==== |
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| === Define TCP === | === Define TCP === |
| - [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]] | - [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]] |
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| | - Direct computer-robot ethernet connection doesn't work. You need a switch or a router. The computer's IP address should be set to DHCP. |
| ==== Grasshopper ==== | ==== Grasshopper ==== |
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| Grasshopper runs inside Rhino 7. In order to control the robot arm, a plugin is needed: | Grasshopper runs inside Rhino 7. In order to control the robot arm, a Grasshopper plugin is needed: Robots. |
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| * Briefly tested versions: ''1.0.1'', ''1.3.0'', ''1.4.1'' seem to work. ''1.5.0'', ''1.6.0'' are too new for the get-current-position-script (see below). | * Briefly tested versions: ''1.0.1'', ''1.3.0'', ''1.4.1'' seem to work. ''1.5.0'', ''1.6.0'' are too new for the get-current-position-script (see below). |
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| | == Robots.dll file == |
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| Make all grasshopper project files (with the .gh extension) writable. This way you'll need to reference the location of the ''robot.dll'' file only once. On mac: cmd + i, under sharing & permissions, change the privilege of 'everyone' to Read & Write. | If Rhino keeps asking to locate the Robots.dll file, here's a tip. Make all grasshopper projects (files with a ''.gh'' extension) writable. This way you'll need to reference the location of the ''robot.dll'' file only once. |
| Location of the robots.dll file: ''username/Library/Application Support/McNeel/Rhinoceros/packages/7.0/Robots/1.4.1/Robots.dll'' | * On mac: cmd + i, under sharing & permissions, change the privilege of 'everyone' to Read & Write. |
| | * Location of the robots.dll file: |
| | * ''username/Library/Application Support/McNeel/Rhinoceros/packages/7.0/Robots/1.4.1/Robots.dll'' |
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| == Guides == | == Guides == |
| * Robots guide by [[https://wiki.fablabbcn.org/ROBOTS|Fab Lab Barcelona]] (almost a complete copy from Robots How-To-Use). | * Robots guide by [[https://wiki.fablabbcn.org/ROBOTS|Fab Lab Barcelona]] (almost a complete copy from Robots How-To-Use). |
| * Drawing with robots [[https://www.youtube.com/watch?v=vyYAmu00xMg&t=1019s&ab_channel=KarlSingline|video tutorial]]. Uses KukaPRC instead of 'Robots', but workflow might be useful. | * Drawing with robots [[https://www.youtube.com/watch?v=vyYAmu00xMg&t=1019s&ab_channel=KarlSingline|video tutorial]]. Uses KukaPRC instead of 'Robots', but workflow might be useful. |
| | * [[https://www.youtube.com/playlist?list=PLqtxhH1qb3Mw5A_YbvHDfrq4DNNfLtcW-|Youtube video series 'programming robots in Grasshopper']] |
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| I tried adapting the 'simple example' by changing the Kuka robot to a UR10 robot. It works, but the initial position is all wrong. In [[http://fab.cba.mit.edu/classes/863.19/Harvard/people/joonhaenglee/week14/week14.html|this guide]] Joonhaeng Lee at [[http://cba.mit.edu/|MIT's center for bits and atoms]] describes a solution to this problem. | I tried adapting the 'simple example' by changing the Kuka robot to a UR10 robot. It works, but the initial position is all wrong. In [[http://fab.cba.mit.edu/classes/863.19/Harvard/people/joonhaenglee/week14/week14.html|this guide]] Joonhaeng Lee at [[http://cba.mit.edu/|MIT's center for bits and atoms]] describes a solution to this problem. |
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| | == Tips == |
| | * The first target should be a joint target. Following ones can be cartesian targets. |
| == Upload script to robot == | == Upload script to robot == |
| * Small programs can be streamed directly to the robot with the 'Remote Connection' module.\\ {{:ur10_robot_arm:robots_sendtorobot.png?400|}} | * Small programs can be streamed directly to the robot with the 'Remote Connection' module.\\ {{:ur10_robot_arm:robots_sendtorobot.png?400|}} |
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| == Setup == | == Setup == |
| * Do not connect to the LAN network of KASK. Instead connect to the robot arm via a separate switch. | * Do not connect to the LAN network of KASK. Instead connect to the robot arm directly, or via a separate switch. |
| * Set the computer to a static IP address that is the same as the Robot's, except for the last number | * Set the computer to a static IP address that is the same as the Robot's, except for the last number |
| {{:ur10_robot_arm:screen_shot_2023-02-28_at_10.45.42.png?600|}} | |
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| | * <code>Computer -------------- Robot arm</code> |
| | * or |
| | * <code>Computer --- Switch --- Robot arm</code> |
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| | == Related 'Robots' projects == |
| | * Wirecutting with Grasshopper & Robots ([[https://www.youtube.com/watch?v=-JtDSXmi1YI&ab_channel=GediminasKirdeikis|video]]) |
| ==== FTP connection ==== | ==== FTP connection ==== |
| * Use FIleZilla | * Use FIleZilla |
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| Location of program (URP) or script (URS) files: ''/programs'' | Location of program (URP) or script (URS) files: ''/programs'' |
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| | ==== RoboDK ==== |
| | - [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]] |
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| ===== Hardware ===== | ===== Hardware ===== |