ur10_robot_arm:ur10_robot_arm

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ur10_robot_arm:ur10_robot_arm [2020/08/06 07:07] – [future tool heads] formlabur10_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://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)
  
-===== future tool heads ===== +Test the setup: 
-  * 3D scanner tool head+  * 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]]
  
-===== Brush attachment =====+- 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 ====
  
-===== 3D print attachment =====+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]] 
 + 
 + 
 + 
 +===== Broom handle attachment ===== 
 +{{:ur10_robot_arm:urbroomhandle.jpg?600|}}\\ 
 +{{:ur10_robot_arm:urbroomhandle_02_web.jpg?600|}}\\ 
 +===== 3D printer (Clay) ===== 
 +In development 
 + 
 +{{:ur10_robot_arm:urprinter_clay.jpg?600|}} 
 +===== 3D printer (Plastic) =====
 In development In development
  
 {{:ur10_robot_arm:urprinter.jpg?600|}}\\ {{: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 ===== ===== Webcam attachment =====
 +{{:ur10_robot_arm:urbwebcam.jpg?600|}}\\
 +{{:ur10_robot_arm:urwebcam_design_museum_ghent_web.jpg?600|}}\\
  
 ===== DSLR attachment ===== ===== DSLR attachment =====
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  • Last modified: 2020/08/06 07:07
  • by formlab