Universal Robots UR10 robot arm

Collaborative robot-arm

A Geometric Inverse Kinematics Solution for the Universal Robot

Applications

Universal Robot Software meant to introduce students to the artistic and experimental aspects of working with robots.
Github page

- Reference Frame Definition

Grasshopper runs inside Rhino 7. In order to control the robot arm, a plugin is needed:

Install 'Robots' plugin (on Mac) for Grasshopper on Rhino 7:

• Download the last release of the plugin: https://github.com/visose/Robots/releases.
  • In Grasshopper, go to 'File > Special Folders > Components Folder'. This opens a finder window.
  • Put the downloaded files ('Robots.dll', and 'Robots.gha') in this folder.
  • Instructions were given to Windows users to give write permission to the files. Not sure if it applies to MacOS too.
• 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 file. A folder 'Robots-master' is created.
  • Make a folder called 'Robots' in your user directory ('/Users/username/Robots').
  • Move the contents from 'Robots-master > Libraries' to the newly created 'Robots' folder in the user directory.

• Robots How-To-Use.
• There are a few example files in ('Robots-master > Documentation > Examples')
• I followed this getting started video.
• Robots guide by Fab Lab Barcelona (almost a complete copy from Robots How-To-Use).
• Drawing with robots video tutorial. Uses KukaPRC instead of 'Robots', but workflow might be useful.

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 this guide Joonhaeng Lee at MIT's center for bits and atoms describes a solution to this problem.

This is a grasshopper file with some builtin scripts that allows to receive the current pose of the robot arm.

• Github plugin page
• Installation instructions
• Demo video

• 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

A suitable cable that mates to the toolhead connector is Lumberg RKMV 8-354

• 3D scanner tool head

In development

Used by Diego Lama to scratch drawings into car parts

Drawing with the UR10

This tool head turns the robot into an automated hole drilling machine. Good for elaborate hole patterns that would be tedious to do manually.

Based on this design.

The 3D printed part attaches to a Grip toolchanger underplate (G-MGW063-2U).

Download the 3D files here.
Attach the clamps to the largest part with M4 screws and nuts.
Attach the largest part to the tool changer with 4 M5x16 low profile bolts and 4 M4 nuts

• Drilling holes in a grid