Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
ur10_robot_arm:ur10_robot_arm [2020/08/04 06:56] – [Define the grid] formlab | ur10_robot_arm:ur10_robot_arm [2023/04/17 03:40] (current) – [RoboDK] formlab | ||
---|---|---|---|
Line 4: | Line 4: | ||
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' |
- | In development | + | ==== Grasshopper |
- | ===== Pen plotter attachment ===== | + | Grasshopper runs inside Rhino 7. In order to control the robot arm, a Grasshopper plugin is needed: Robots. |
- | ===== Webcam attachment ===== | ||
- | ===== DSLR attachment | + | === The Robots plugin |
+ | == Installation | ||
- | ===== Hole drilling attachment ===== | + | * In Rhino, go to '' |
- | {{:ur10_robot_arm: | + | * Search for ' |
- | This tool head was made to drill a grid of almost 500 holes into the base plate of the thermoform machine. | + | * Select version '' |
+ | * Everything below version '' | ||
+ | * Briefly tested versions: '' | ||
- | ==== Physicial setup ==== | + | == Robots.dll file == |
- | The program is made and executed on the teaching pendant. | + | |
- | {{: | + | If Rhino keeps asking to locate the Robots.dll file, here's a tip. Make all grasshopper projects (files with a '' |
- | The Dremel is strapped | + | * On mac: cmd + i, under sharing & permissions, |
+ | * Location of the robots.dll file: | ||
+ | * '' | ||
- | {{: | + | == Guides == |
- | 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. | + | |
- | {{:ur10_robot_arm:griddril_wood_web.jpg?600|}}\\ | + | * [[https:// |
- | 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 | + | * There are a few example files in (' |
+ | * I followed this [[https:// | ||
+ | * Robots guide by [[https:// | ||
+ | * Drawing | ||
+ | * [[https:// | ||
- | ==== Define | + | I tried adapting |
- | {{: | ||
- | Test the reach of the arm: can it get to the far corners? | ||
- | {{: | + | == Tips == |
- | To define | + | * The first target should be a joint target. Following ones can be cartesian targets. |
- | * Add a plane and define | + | == Upload script to robot == |
- | * First point: this defines | + | * Small programs can be streamed directly to the robot with the ' |
- | * Second point: this defines | + | * Send the program to the robot by clicking ' |
- | * Third point: this defines the X axis. | + | * 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 | ||
+ | * 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' | ||
- | Save the file with a clear name. | ||
- | ==== Define the grid ==== | + | === URRealtimeFeedback plugin for Robots |
- | In this example, | + | This is a grasshopper file with some builtin scripts that allows to receive |
- | On the teaching pendant, load the following program: '' | + | * [[https://github.com/ |
- | Let's define 4 points where the outer most actions of the palletising sequence will take place. These points will become the corner-holes. | + | * [[https:// |
+ | * [[https:// | ||
- | {{: | + | == Setup == |
- | In the program tree, click item '' | + | * Do not connect to the LAN network of KASK. Instead connect to the robot arm directly, or via a separate switch. |
- | Click '' | + | * Set the computer to a static IP address that is the same as the Robot's, except for the last number |
- | {{: | ||
- | From the upper right drop down menu, select the feature you defined previously. | ||
- | {{: | + | * < |
- | To make the drill point straight down, click on one of the number boxes under '' | + | * or |
+ | * < | ||
- | {{: | ||
- | Change drop down menu '' | ||
- | * Set RX to '' | ||
- | * Set RY to '' | ||
- | * Set RZ to '' | ||
- | {{: | ||
- | Lower the speed for safety. | ||
- | Manually move the arm to the first position, using the on screen arrows. | ||
- | {{:ur10_robot_arm: | + | == Related ' |
- | When arrived at the first position, carefully move the arm down so that the drill almost touches the wooden surface. Keep a millimeter of safety margin. | + | * Wirecutting with Grasshopper & Robots ([[https://www.youtube.com/ |
+ | ==== FTP connection ==== | ||
+ | * Use FIleZilla | ||
+ | * Host: '' | ||
+ | * Username: root | ||
+ | * Password: easybot | ||
+ | * Port: 22 (also works without entering anything here) | ||
- | Click '' | + | Location of program (URP) or script (URS) files: |
- | ==== Define | + | ==== RoboDK ==== |
- | This is the sequence to drill a single | + | - [[https:// |
- | We will only be defining heights, since the X-Y location will be taken from the grid locations later. | + | |
+ | |||
+ | ===== Hardware | ||
+ | ==== Toolhead connector ==== | ||
+ | |||
+ | A suitable cable that mates to the toolhead connector is [[https:// | ||
+ | |||
+ | |||
+ | |||
+ | ===== Broom handle attachment ===== | ||
+ | {{: | ||
+ | {{: | ||
+ | ===== 3D printer (Clay) ===== | ||
+ | In development | ||
+ | |||
+ | {{: | ||
+ | ===== 3D printer (Plastic) ===== | ||
+ | In development | ||
+ | |||
+ | {{: | ||
+ | |||
+ | |||
+ | ===== Pen plotter ===== | ||
+ | {{: | ||
+ | |||
+ | Used by [[http:// | ||
+ | |||
+ | [[Drawing with the UR10]] (RoboDK).\\ | ||
+ | [[Drawing with the UR10 V2]] (Grasshopper) | ||
+ | ===== Webcam attachment ===== | ||
+ | {{: | ||
+ | {{: | ||
+ | |||
+ | ===== DSLR attachment ===== | ||
+ | |||
+ | ===== Hole drilling | ||
+ | {{: | ||
+ | {{: | ||
+ | This tool head turns the robot into an automated | ||
- | {{:ur10_robot_arm:griddrill_drilling_sequence_01_patternpoint_web.jpg? | + | Based on [[https:// |
- | Under '' | + | |
- | Position the drill about 1mm above the surface. | + | |
- | {{:ur10_robot_arm: | + | The 3D printed part attaches to a [[https://www.grip-gmbh.com/ |
- | Define '' | + | |
- | {{: | + | Download the 3D files {{ : |
- | * Define Down —> '' | + | Attach |
- | * Define Down —> '' | + | Attach |
- | * Define Up —> '' | + | |
- | * Define Up —> '' | + | |
- | * Define '' | + | |
- | ==== Define the pattern ==== | + | === Applications |
+ | * [[: | ||