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ur10_robot_arm:ur10_robot_arm [2020/08/04 03:04] – [Defining the coordinate system of the stock material] formlab | ur10_robot_arm:ur10_robot_arm [2023/04/17 03:40] (current) – [RoboDK] formlab | ||
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Collaborative robot-arm | Collaborative robot-arm | ||
+ | References: | ||
+ | * [[https:// | ||
+ | * [[https:// | ||
+ | ===== Software ===== | ||
+ | * [[ur10_robot_arm: | ||
+ | * [[ur10_robot_arm: | ||
+ | * [[ur10_robot_arm: | ||
+ | * Other possible control software | ||
+ | * Python | ||
+ | * [[https:// | ||
+ | ==== 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) | ||
- | ===== future tool heads ===== | + | Test the setup: |
- | * 3D scanner | + | * 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. |
- | * | + | |
- | ===== Brush attachment | + | ==== RoboDK |
+ | - [[https:// | ||
- | ===== 3D print attachment ===== | + | - Direct computer-robot ethernet connection doesn' |
+ | ==== 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 '' | ||
+ | * Search for ' | ||
+ | * Select version '' | ||
+ | * Everything below version '' | ||
+ | * Briefly tested versions: '' | ||
+ | |||
+ | == Robots.dll file == | ||
+ | |||
+ | If Rhino keeps asking to locate the Robots.dll file, here's a tip. Make all grasshopper projects (files with a '' | ||
+ | * On mac: cmd + i, under sharing & permissions, | ||
+ | * Location of the robots.dll file: | ||
+ | * '' | ||
+ | |||
+ | == Guides == | ||
+ | |||
+ | * [[https:// | ||
+ | * There are a few example files in (' | ||
+ | * I followed this [[https:// | ||
+ | * Robots guide by [[https:// | ||
+ | * Drawing with robots [[https:// | ||
+ | * [[https:// | ||
+ | |||
+ | I tried adapting the ' | ||
+ | |||
+ | |||
+ | == 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 ' | ||
+ | * Send the program to the robot by clicking ' | ||
+ | * The arm starts moving without warning(!). | ||
+ | * With larger programs (1000+ targets(? | ||
+ | * Larger programs (2500+ targets) cannot be streamed. Use the 'Save Program' | ||
+ | * 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 '' | ||
+ | * Upload to the robot via SFTP (place it somewhere in the map '/ | ||
+ | * Make a new program, add the script module, change it from line to file, and load the file from the programs folder. | ||
+ | * This doesn' | ||
+ | * 485 targets works | ||
+ | * 24673 targets already doesn' | ||
+ | |||
+ | |||
+ | === 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:// | ||
+ | * [[https:// | ||
+ | * [[https:// | ||
+ | |||
+ | == 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' | ||
+ | |||
+ | |||
+ | * < | ||
+ | * or | ||
+ | * < | ||
+ | |||
+ | |||
+ | |||
+ | |||
+ | == Related ' | ||
+ | * Wirecutting with Grasshopper & Robots ([[https:// | ||
+ | ==== FTP connection ==== | ||
+ | * Use FIleZilla | ||
+ | * Host: '' | ||
+ | * Username: root | ||
+ | * Password: easybot | ||
+ | * Port: 22 (also works without entering anything here) | ||
+ | |||
+ | Location of program (URP) or script (URS) files: ''/ | ||
+ | |||
+ | |||
+ | ==== RoboDK ==== | ||
+ | - [[https:// | ||
+ | |||
+ | |||
+ | ===== Hardware | ||
+ | ==== Toolhead connector ==== | ||
+ | |||
+ | A suitable cable that mates to the toolhead connector is [[https:// | ||
+ | |||
+ | |||
+ | |||
+ | ===== Broom handle | ||
+ | {{: | ||
+ | {{: | ||
+ | ===== 3D printer (Clay) | ||
In development | In development | ||
- | ===== Pen plotter attachment | + | {{: |
+ | ===== 3D printer (Plastic) | ||
+ | In development | ||
+ | {{: | ||
+ | |||
+ | |||
+ | ===== Pen plotter ===== | ||
+ | {{: | ||
+ | |||
+ | Used by [[http:// | ||
+ | |||
+ | [[Drawing with the UR10]] (RoboDK).\\ | ||
+ | [[Drawing with the UR10 V2]] (Grasshopper) | ||
===== Webcam attachment ===== | ===== Webcam attachment ===== | ||
+ | {{: | ||
+ | {{: | ||
===== DSLR attachment ===== | ===== DSLR attachment ===== | ||
===== Hole drilling attachment ===== | ===== Hole drilling attachment ===== | ||
+ | {{: | ||
{{: | {{: | ||
- | This tool head was made to drill a grid of almost 500 holes into the base plate of the thermoform | + | This tool head turns the robot into an automated hole drilling |
+ | |||
+ | Based on [[https:// | ||
- | ==== Physicial setup ==== | + | The 3D printed part attaches to a [[https:// |
- | The program is made and executed on the teaching pendant. | + | |
- | {{: | + | Download the 3D files {{ : |
- | The Dremel is strapped to the upper arm of the robot and secured | + | Attach |
+ | Attach the largest part to the tool changer with 4 M5x16 low profile bolts and 4 M4 nuts | ||
- | {{: | ||
- | Slide the Dremel flex-arm in the 3D printed holder. Make sure it is attached to the tool change plate. Check that the bolt-heads are not sticking out on the side that will mount to the robot arm. The tool changer needs low profile bolts. Attach the tool to the robot arm and install a 1mm drill in the chuck. | ||
- | {{: | + | === Applications === |
- | I had a piece of wood on a table with a layer of thick cardboard underneath, but with the robot arm, it is possible to drill in walls, upright panels etc... (The cardboard in the picture should have been thicker). | + | |
- | ==== Define the coordinate system of the stock material ==== | + | * [[: |