ur10_robot_arm:drawing_with_the_ur10_v2

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ur10_robot_arm:drawing_with_the_ur10_v2 [2023/02/08 04:34] – [Set-Up] formlabur10_robot_arm:drawing_with_the_ur10_v2 [2023/02/08 07:10] – [Connect the computer to the robot] formlab
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   * Make sure Rhino and Grasshopper 7 are installed   * Make sure Rhino and Grasshopper 7 are installed
   * Install the [[https://www.food4rhino.com/en/app/robots|Robots plugin]]:   * Install the [[https://www.food4rhino.com/en/app/robots|Robots plugin]]:
-    * 'HD/Users/username/Library/Application Support/McNeel/Rhinoceros/packages/7.0/Robots/Robots.dll' +    * ''HD/Users/username/Library/Application Support/McNeel/Rhinoceros/packages/7.0/Robots/Robots.dll'' 
-  * Download the [[https://github.com/visose/robots/tree/libraries|Robot library]] and install locally. There's an online library as well, but it seems like the 'KU Leuven' file is not in that list. +  * Download the [[https://github.com/visose/robots/tree/libraries|Robot library]] and install locally. There's an online library as well, but it seems like the ''KU Leuven'' file is not in that list. 
-    * Place at least one pair of XML & 3DM files inside a folder named 'Robots' in the 'Documents' folder: +    * Place at least one pair of XML & 3DM files inside a folder named ''Robots'' in the ''Documents'' folder: 
-    * 'HD/Users/username/Robots/'+    * ''HD/Users/username/Robots/''
  
 === Open Grasshopper file === === Open Grasshopper file ===
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   * Researchers > Unfold > ''UR10 plotter 02.gh''.    * Researchers > Unfold > ''UR10 plotter 02.gh''. 
   * Rhino starts up and automatically loads the connected file ''UR10 plotter 02.3dm''.   * Rhino starts up and automatically loads the connected file ''UR10 plotter 02.3dm''.
-  * In the Grasshopper file, the logic is defined 
-  * The Rhino file is used to load and position vector images, so Grasshopper can use it. 
  
-=== Turn on the robot ===+In the Grasshopper file, the logic is defined. \\  
 +The Rhino file is used to load and position vector images, so Grasshopper can use it.
  
-  * **Define the TCP** +=== Connect the robot to Grasshopper === 
-    * Use the wizard on the teaching pendant + 
-    * Set the current TCP as default +Turn on the robot. 
-    * Save the settings in the installation tab. + 
-  * **Connect the computer to the robot** +== Connect the computer to the robot == 
-    * Use an ethernet cable going over a switch. Connecting directly to the robot doesn't work. + 
-    * Use the MiniDisplay to Ethernet adapter that is labeled Formlab. I had another one (the same model) fail, which is annoying to debug. +  * Use an ethernet cable going over a switch. Connecting directly to the robot doesn't work. 
-  * **Get the current pose into Grasshopper** +  * **Don't connect to the LAN of KASK.** 
-    * On the top of the sketch, switch to ''Real Robot'' +The robot won't be able to connect to the network. Use a separate switch or remove all the connections except the one going to the robot and the computer. 
-    * In the section ''Get data from real robot'', enable geometry display. +  * If you use a laptop: Use the MiniDisplay to Ethernet adapter that is labeled Formlab. I had another one fail (the same model), which is annoying to debug. 
-    * Press ''Get Robot Position''. You should see a 3D rendering of the physical position of the robot in Rhino. + 
-      * Verify if it's the same pose as the real robot. +  * IP address: 192.168.185.99 
-    * This defines the **home position** of the robot. +  * Subnet masker: 0.0.0.0 
-  * **Define the work frame** +  * Default Gateway: 0.0.0.0 
-    * Touch the TCP of the robot arm on 3 points of the work frame: left bottom, right bottom, right top. +  * Preferred DNS Server: 0.0.0.0 
-    * After every position, in Grasshopper, click on ''Get Point'' in the 'Construct Frame With Robot' section. +  * Alternative DNS Server: 0.0.0.0 
-    * When done, two grey area's show up in Rhino. + 
-      * The light grey area is the place where the drawing will happen + 
-      * The dark blue area is the place to put the vector image. Look at the numbers (0, 1, 2) for orientation. +== Define the TCP == 
-  * **Load vector file** + 
-    * in Rhino, import a vector file (SVG for example) +  * Use the wizard on the teaching pendant 
-    * Position it in the dark blue rectangle. Look at the numbers (0, 1, 2) for orientation. +  * Set the current TCP as default 
-    * In Grasshopper, on the left of the plotting section select the curve-object under 'vector image'.  +  * Save the settings in the installation tab. 
-      * Right-click on it and select ''set curve'' or ''set multiple curves'' and select them in Rhino. Then click OK.+  
 + 
 +== Get the current pose into Grasshopper == 
 + 
 +  * On the top of the sketch, switch to ''Real Robot'' 
 +  * In the section ''Get data from real robot'', enable geometry display. 
 +  * Press ''Get Robot Position''. You should see a 3D rendering of the physical position of the robot in Rhino. 
 +    * Verify if it's the same pose as the real robot. 
 +  * This defines the **home position** of the robot. 
 + 
 +== Define the work frame == 
 + 
 +  * Touch the TCP of the robot arm on 3 points of the work frame: left bottom, right bottom, right top. 
 +  * After every position, in Grasshopper, click on ''Get Point'' in the 'Construct Frame With Robot' section. 
 +  * When done, two grey area's show up in Rhino. 
 +    * The light grey area is the place where the drawing will happen 
 +    * The dark blue area is the place to put the vector image. Look at the numbers (0, 1, 2) for orientation. 
 + 
 +== Load vector file == 
 + 
 +  * in Rhino, import a vector file (SVG for example) 
 +  * Position it in the dark blue rectangle. Look at the numbers (0, 1, 2) for orientation. 
 +  * In Grasshopper, on the left of the plotting section select the curve-object under 'vector image'.  
 +    * Right-click on it and select ''set curve'' or ''set multiple curves'' and select them in Rhino. Then click OK. 
   * Use the Sim time dial to simulate the program.   * Use the Sim time dial to simulate the program.
-  * **Send the program to the robot** + 
-    * Click ''Upload'' in the 'send to robot' section. +==== Draw with the Robot ====  
-    * The first time you might need to click 2x + 
-    * It is successful when a popup appears on the teaching pendant +=== Send the program to the robot === 
-  * **Run the program on the robot** + 
-    * Before the popup appears, go to the ''program'' tab and set the speed to 50%. +  * Click ''Upload'' in the 'send to robot' section. 
-    * Click ''run'' on the popup and be ready to lower the speed or press the emergency stop button. +  * The first time you might need to click 2x 
-    * The program can also be stopped by clicking on the stop-icon on the teaching pendant. +  * It is successful when a popup appears on the teaching pendant 
-    * The robot will move from it's current position to the home position, and from there to the targets defined in the program.+  
 +=== Run the program on the robot === 
 +  * Before the popup appears, go to the ''program'' tab and set the speed to 50%. 
 +  * Click ''run'' on the popup and be ready to lower the speed or press the emergency stop button. 
 +  * The program can also be stopped by clicking on the stop-icon on the teaching pendant. 
 +  * The robot will move from it's current position to the home position, and from there to the targets defined in the program.
  
  
  • ur10_robot_arm/drawing_with_the_ur10_v2.txt
  • Last modified: 2023/02/08 07:10
  • by formlab