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--- ur10_robot_arm:ur10_robot_arm [2020/08/27 05:09] – [Pen plotter attachment] formlab
+++ ur10_robot_arm:ur10_robot_arm [2023/04/17 03:32] – [Grasshopper] formlab
@@ Line 4: / Line 4: @@
 Collaborative robot-arm
+References:
+  * [[https://asd.sutd.edu.sg/dfab/a-geometric-inverse-kinematics-solution-for-the-universal-robot/|A Geometric Inverse Kinematics Solution for the Universal Robot]]
+  * [[https://www.zacobria.com/pdf/universal_robots_zacobria_hints_and_tips_manual_1_4_3.pdf|Hints and tips by Zacobria]]
+===== Software =====
+  * [[ur10_robot_arm:ur10_robot_arm#polyscope_the_teaching_pendant|Polyscope (the teaching pendant)]]
+  * [[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) ====
-Applications
+=== Define TCP ===
+  * Click ‘new’ (you cant rename TCP’s)
+  * Define the position
+    * Enter the offset by measuring, or use the wizard. The wizard lets you orient the physical TCP around a point in 4 different positions.
+  * Define the orientation (optional)
+    * Enter a custom orientation in case the TCP is not normal to the flange.
+  * Define a tool weight and center of gravity.
+  * Click ‘set as default’
+  * Save the installation setting (on the left bar)
+Test the setup:
+  * rotate the robot around the TCP on the teaching pendant (move tab). The tool tip should stay still in space while the rest of the robot rotates around it.
+==== RoboDK ====
+- [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]]
+==== Grasshopper ====
+Grasshopper runs inside Rhino 7. In order to control the robot arm, a Grasshopper plugin is needed: Robots.
+=== The Robots plugin ===
+== Installation ==
+  * In Rhino, go to ''Tools > Package Manager'' and select the ''online'' tab.
+  * Search for 'Robots' and select the 'Robots' plugin. If you select it, check the Github url: the author is visose.
+  * Select version ''1.4.1'' and click install (restart Rhino after).
+    * Everything below version ''1.5.0'' probably works.
+    * 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).
+== Robots.dll file ==
+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.
+  * 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''
+== Guides ==
+  * [[https://github.com/visose/Robots/wiki/How-To-Use|Robots How-To-Use]].
+  * There are a few example files in ('Robots-master > Documentation > Examples')
+  * I followed this [[https://www.youtube.com/watch?v=HV44DDlDqmQ&ab_channel=BastianWibranek|getting started video]].
+  * 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.
+  * [[https://www.youtube.com/playlist?list=PLqtxhH1qb3Mw5A_YbvHDfrq4DNNfLtcW-|Youtube video series 'programming robots in Grasshopper']]
+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.
+== Tips ==
+  * The first target should be a joint target. Following ones can be cartesian targets.
+== 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|}}
+    * Send the program to the robot by clicking 'Upload'.
+    * The arm starts moving without warning(!).
+    * With larger programs (1000+ targets(?)), there might be a delay after clicking upload and the arm moving.
+  * Larger programs (2500+ targets) cannot be streamed. Use the 'Save Program' module.\\ {{:ur10_robot_arm:robots_saveprogram.png?400|}}
+    * This file is created right away (it's streamed).
+    * Change the .URS extension to .script
+    * Open the script in a script editor, copy the function name at the top, and add to the bottom ''result = programName()''. Now the program will actually be ran. Maybe this is an incompatibility between the e-series and the previous versions. Might be changeable in the post processor C# script.
+    * Upload to the robot via SFTP (place it somewhere in the map '/programs').
+    * Make a new program, add the script module, change it from line to file, and load the file from the programs folder.
+    * This doesn't work for large files though. People are talking about splitting it up into sections. But it's unclear to me how.
+      * 485 targets works
+      * 24673 targets already doesn't want to load :(
+=== URRealtimeFeedback plugin for Robots ===
+This is a grasshopper file with some builtin scripts that allows to receive the current pose of the robot arm.
+  * [[https://github.com/robin-gdwl/GH_Robots_URRealtimeFeedback|Github plugin page]]
+  * [[https://github.com/robin-gdwl/GH_Robots_URRealtimeFeedback#-usage|Installation instructions]]
+  * [[https://www.youtube.com/watch?v=c1BiL6fXkgs&ab_channel=robin_gdwl|Demo video]]
+== Setup ==
+  * 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
+  * <code>Computer -------------- Robot arm</code>
+  * or
+  * <code>Computer --- Switch --- Robot arm</code>
+== Related 'Robots' projects ==
+  * Wirecutting with Grasshopper & Robots ([[https://www.youtube.com/watch?v=-JtDSXmi1YI&ab_channel=GediminasKirdeikis|video]])
+==== FTP connection ====
+  * Use FIleZilla
+  * Host: ''sftp:%%//%%192.168.185.99''
+  * Username: root
+  * Password: easybot
+  * Port: 22 (also works without entering anything here)
+Location of program (URP) or script (URS) files: ''/programs''
+==== RoboDK ====
+- [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]]
+===== Hardware  =====
+==== Toolhead connector ====
+A suitable cable that mates to the toolhead connector is [[https://www.lumberg-automationusa.com/con/pdf/RKMV8354.pdf|Lumberg RKMV 8-354]]
-===== future tool heads =====
-  * 3D scanner tool head
@@ Line 14: / Line 129: @@
 {{:ur10_robot_arm:urbroomhandle.jpg?600|}}\\
 {{:ur10_robot_arm:urbroomhandle_02_web.jpg?600|}}\\
-===== 3D print attachment =====
+===== 3D printer (Clay) =====
+In development
+{{:ur10_robot_arm:urprinter_clay.jpg?600|}}
+===== 3D printer (Plastic) =====
 In development
 {{:ur10_robot_arm:urprinter.jpg?600|}}\\
-===== Pen plotter attachment =====
+===== Pen plotter =====
 {{:ur10_robot_arm:urprlotter.jpg?600|}}\\
 Used by [[http://hisk.edu/mw/index.php/Diego_Lama|Diego Lama]] to scratch drawings into car parts
+[[Drawing with the UR10]] (RoboDK).\\
+[[Drawing with the UR10 V2]] (Grasshopper)
 ===== Webcam attachment =====
 {{:ur10_robot_arm:urbwebcam.jpg?600|}}\\