Drawing with the UR10 v2

With Grasshopper

This is a preliminary summary. Will change!

Export a vector image from inkscape.

TODO: experiment with grouping etc. Jerry has a script that make the axidraws draw curves in a logical order, rather than jumping around.

• Make sure Rhino and Grasshopper 7 are installed
• Install the Robots plugin:
  • HD/Users/username/Library/Application Support/McNeel/Rhinoceros/packages/7.0/Robots/Robots.dll
• Download the 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:
  • HD/Users/username/Robots/

• Researchers > Unfold > UR10 plotter 02.gh.
• 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.

• Use the wizard on the teaching pendant
• Set the current TCP as default
• Save the settings in the installation tab.

• 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.

• 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.

• 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.

• 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.

• Click Upload in the 'send to robot' section.
• The first time you might need to click 2x
• It is successful when a popup appears on the teaching pendant

• 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.

• Don't go back to home after the last point, but move a few centimeters away from the last point instead.
• The ability to insert subroutines (for example: after drawing a curve, pick up another colour pencil, or dip a brush in some paint, …)