Differences

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--- ur10_robot_arm:ur10_robot_arm [2023/03/18 12:48] – [Setup] formlab
+++ ur10_robot_arm:ur10_robot_arm [2025/09/08 03:00] (current) – [Connect to the robot] formlab
@@ Line 8: / Line 8: @@
   * [[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)]]
-==== 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 ===
@@ Line 27: / Line 32: @@
 - [[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 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.
+=== Connect to the robot ===
+(08/09/2025)\\
+Connect the Robot controller with an ethernet cable. This can be done in 3 ways:
+  * Robot controller direct to the Mac
+  * Robot controller to a network switch, which then connects to a Mac (not connected to the main network)
+  * Robot controller to a network switch, which is connected to the main network
+On the teaching pendant go to Setup Robot > Network
+  * Select Static Address
+  * IP address: 192.168.185.99
+  * Subnet Mask: 255.255.192.0
+  * Default Gateway: 0.0.0.0
+  * Preferred & Alternative DNS servers:  0.0.0.0
+On the computer, go to System Settings > Network > Ethernet > TCP/IP
+  * Set 'Configure' to 'Manually'
+  * IP Address: 192.168.185.88
+  * Subnet Mask: 255.255.192.0
+In the terminal, try pinging to check the connection to the robot:
+  * ''ping 192.168.185.99''
+  * If the ping returns data, you know the computer can reach the robot
+Now you can control the robot with the Robots plugin in Grasshopper / Rhino and use the URRealtimeFeedback script to get the current pose & TCP position.
+Current versions used:
+  * Rhino version: 7  (7.38.24338.17002, 2024-12-03)
+  * Grasshopper version 03/12/2024 build 1.0.0007
+  * Robots (Visose) version: 1.4.1: [[https://github.com/visose/Robots|Link]]
+  * URRealtimeFeedback script for Grasshopper Robots: [[https://github.com/robin-gdwl/GH_Robots_URRealtimeFeedback|Link]]
+Using a forked version of the URRealtimeFeedback script by Odbee ([[https://github.com/robin-gdwl/GH_Robots_URRealtimeFeedback/pull/2|Link]]), makes it possible to use version 1.6.7 of the Robots plugin.
@@ Line 56: / Line 98: @@
   * 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.
@@ Line 86: / Line 129: @@
 == Setup ==
-  * Do not connect to the LAN network of KASK. Instead connect to the robot arm via a separate switch.
+  * 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
-{{:ur10_robot_arm:screen_shot_2023-02-28_at_10.45.42.png?600|}}
+  * <code>Computer -------------- Robot arm</code>
+  * or
+  * <code>Computer --- Switch --- Robot arm</code>
-== Related projects ==
+== Related 'Robots' projects ==
   * Wirecutting with Grasshopper & Robots ([[https://www.youtube.com/watch?v=-JtDSXmi1YI&ab_channel=GediminasKirdeikis|video]])
 ==== FTP connection ====
@@ Line 102: / Line 150: @@
 Location of program (URP) or script (URS) files: ''/programs''
+==== RoboDK ====
+- [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]]
 ===== Hardware  =====