Drawing with the UR10 v2

With Grasshopper

This is a preliminary summary. Will change!

Export a vector image from inkscape.

TODO: experiment with grouping etc. Jerry has a script that make the axidraws draw curves in a logical order, rather than jumping around.

  • Open Grasshopper file
    • UR10 plotter 02.gh.
    • Rhino starts up and automatically loads the connected file UR10 plotter 02.3dm.
    • In the Grasshopper file, the logic is defined
    • The Rhino file is used to load and position vector images, so Grasshopper can use it.
  • Turn on the robot
  • Define the TCP
    • Use the wizard on the teaching pendant
    • Set the current TCP as default
    • Save the settings in the installation tab.
  • Connect the computer to the robot
    • Use an ethernet cable going over a switch. Connecting directly to the robot doesn't work.
    • Use the MiniDisplay to Ethernet adapter that is labeled Formlab. I had another one (the same model) fail, which is annoying to debug.
  • Get the current pose into Grasshopper
    • On the top of the sketch, switch to Real Robot
    • In the section Get data from real robot, enable geometry display.
    • Press Get Robot Position. You should see a 3D rendering of the physical position of the robot in Rhino.
      • Verify if it's the same pose as the real robot.
    • This defines the home position of the robot.
  • Define the work frame
    • Touch the TCP of the robot arm on 3 points of the work frame: left bottom, right bottom, right top.
    • After every position, in Grasshopper, click on Get Point in the 'Construct Frame With Robot' section.
    • When done, two grey area's show up in Rhino.
      • The light grey area is the place where the drawing will happen
      • The dark blue area is the place to put the vector image. Look at the numbers (0, 1, 2) for orientation.
  • Load vector file
    • in Rhino, import a vector file (SVG for example)
    • Position it in the dark blue rectangle. Look at the numbers (0, 1, 2) for orientation.
    • In Grasshopper, on the left of the plotting section select the curve-object under 'vector image'.
      • Right-click on it and select set curve or set multiple curves and select them in Rhino. Then click OK.
  • Use the Sim time dial to simulate the program.
  • Send the program to the robot
    • Click Upload in the 'send to robot' section.
    • The first time you might need to click 2x
    • It is successful when a popup appears on the teaching pendant
  • Run the program on the robot
    • Before the popup appears, go to the program tab and set the speed to 50%.
    • Click run on the popup and be ready to lower the speed or press the emergency stop button.
    • The program can also be stopped by clicking on the stop-icon on the teaching pendant.
    • The robot will move from it's current position to the home position, and from there to the targets defined in the program.
  • Don't go back to home after the last point, but move a few centimeters away from the last point instead.
  • The ability to insert subroutines (for example: after drawing a curve, pick up another colour pencil, or dip a brush in some paint, …)
  • ur10_robot_arm/drawing_with_the_ur10_v2.txt
  • Last modified: 2021/09/06 07:39
  • by formlab