ur10_robot_arm:ur10_robot_arm

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ur10_robot_arm:ur10_robot_arm [2021/09/20 00:26] – [Teaching pendant (Polyscope)] formlabur10_robot_arm:ur10_robot_arm [2023/04/17 03:40] (current) – [RoboDK] formlab
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   * [[https://www.zacobria.com/pdf/universal_robots_zacobria_hints_and_tips_manual_1_4_3.pdf|Hints and tips by Zacobria]]   * [[https://www.zacobria.com/pdf/universal_robots_zacobria_hints_and_tips_manual_1_4_3.pdf|Hints and tips by Zacobria]]
 ===== Software ===== ===== Software =====
- +  * [[ur10_robot_arm:ur10_robot_arm#polyscope_the_teaching_pendant|Polyscope (the teaching pendant)]] 
-==== Teaching pendant (Polyscope) ====+  * [[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) ====
  
 === Define TCP === === Define TCP ===
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   * Save the installation setting (on the left bar)   * Save the installation setting (on the left bar)
  
-Test the setup by rotating the robot around the TCP. The tool tip should stay still in space while the rest of the robot rotates around it.+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 ==== ==== RoboDK ====
 - [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]] - [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]]
  
 +- 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 ==== ==== Grasshopper ====
  
-Grasshopper runs inside Rhino 7. In order to control the robot arm, a plugin is needed:+Grasshopper runs inside Rhino 7. In order to control the robot arm, a Grasshopper plugin is needed: Robots.
  
-=== The Robots plugin === 
  
 +=== The Robots plugin ===
 == Installation == == Installation ==
  
-Install 'Robots' plugin (on Mac) for Grasshopper on Rhino 7: +  * In Rhino, go to ''Tools Package Manager'' and select the ''online'' tab
-  * Download the last release of the plugin: [[https://github.com/visose/Robots/releases]]. +  Search for 'Robots' and select the 'Robots' pluginIf you select it, check the Github url: the author is visose
-    * In Grasshopper, go to 'File Special Folders > Components Folder'. This opens a finder window+  * Select version ''1.4.1'' and click install (restart Rhino after)
-    Put the downloaded files ('Robots.dll'and 'Robots.gha') in this folder. +    * Everything below version ''1.5.0'' probably works
-    * Instructions were given to Windows users to give write permission to the files. Not sure if it applies to MacOS too+    * 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). 
-  * Download the zip file from this Github repository: [[https://github.com/visose/Robots]]: on the top right, click 'code > download .zip'Alt+click to download individual files doesn't work as it results in HTML files instead of the raw xml files+ 
-    * Unzip the fileA folder 'Robots-masteris created+== Robots.dll file ==
-    * Make a folder called 'Robotsin your user directory ('/Users/username/Robots'). +
-    * Move the contents from 'Robots-master > Libraries' to the newly created 'Robotsfolder in the user directory.+
  
-Make all grasshopper project files (with the .gh extension) writable. This way you'll need to reference the location of the ''robot.dll'' file only once.  +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+  * 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 == == Guides ==
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   * Robots guide by [[https://wiki.fablabbcn.org/ROBOTS|Fab Lab Barcelona]] (almost a complete copy from Robots How-To-Use).   * 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.   * 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. 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 == == 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|}}   * Small programs can be streamed directly to the robot with the 'Remote Connection' module.\\ {{:ur10_robot_arm:robots_sendtorobot.png?400|}}
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   * [[https://www.youtube.com/watch?v=c1BiL6fXkgs&ab_channel=robin_gdwl|Demo video]]   * [[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 ==== ==== FTP connection ====
   * Use FIleZilla   * Use FIleZilla
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 Location of program (URP) or script (URS) files: ''/programs'' Location of program (URP) or script (URS) files: ''/programs''
 +
 +
 +==== RoboDK ====
 +- [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]]
 +
  
 ===== Hardware  ===== ===== Hardware  =====
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  • Last modified: 2021/09/20 00:26
  • by formlab