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ur10_robot_arm:ur10_robot_arm [2021/08/20 05:17] – [Grasshopper] formlab | ur10_robot_arm:ur10_robot_arm [2023/04/17 03:40] (current) – [RoboDK] formlab | ||
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Collaborative robot-arm | Collaborative robot-arm | ||
+ | References: | ||
+ | * [[https:// | ||
+ | * [[https:// | ||
+ | ===== Software ===== | ||
+ | * [[ur10_robot_arm: | ||
+ | * [[ur10_robot_arm: | ||
+ | * [[ur10_robot_arm: | ||
+ | * Other possible control software | ||
+ | * Python | ||
+ | * [[https:// | ||
+ | ==== Polyscope (the teaching pendant) ==== | ||
- | [[https:// | + | === Define TCP === |
- | + | * Click ‘new’ (you cant rename TCP’s) | |
- | + | * Define the position | |
- | Applications | + | * Enter the offset by measuring, or use the wizard. The wizard lets you orient the physical TCP around a point in 4 different positions. |
- | + | * Define the orientation (optional) | |
- | ===== Software ===== | + | * Enter a custom orientation in case the TCP is not normal to the flange. |
+ | * Define a tool weight and center of gravity. | ||
+ | * Click ‘set as default’ | ||
+ | * Save the installation setting (on the left bar) | ||
- | ==== UR_Playground ==== | + | Test the setup: |
- | Universal Robot Software meant to introduce students to the artistic and experimental aspects of working with robots.\\ | + | * rotate |
- | [[https:// | + | |
==== RoboDK ==== | ==== RoboDK ==== | ||
- [[https:// | - [[https:// | ||
+ | - Direct computer-robot ethernet connection doesn' | ||
==== 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 |
=== The Robots plugin === | === The Robots plugin === | ||
- | |||
== Installation == | == Installation == | ||
- | Install | + | * In Rhino, go to '' |
- | * Download the last release of the plugin: [[https:// | + | * Search for ' |
- | * In Grasshopper, | + | * Select version '' |
- | * Put the downloaded files ('Robots.dll', | + | * Everything below version |
- | * Instructions were given to Windows users to give write permission to the files. Not sure if it applies | + | * Briefly tested versions: |
- | * Download | + | |
- | * Unzip the file. A folder | + | == Robots.dll file == |
- | * Make a folder called | + | |
- | * Move the contents from 'Robots-master > Libraries' | + | If Rhino keeps asking to locate |
+ | * On mac: cmd + i, under sharing & permissions, | ||
+ | * Location of the robots.dll file: | ||
+ | * '' | ||
== Guides == | == Guides == | ||
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* Robots guide by [[https:// | * Robots guide by [[https:// | ||
* Drawing with robots [[https:// | * Drawing with robots [[https:// | ||
+ | * [[https:// | ||
I tried adapting the ' | I tried adapting the ' | ||
+ | |||
+ | == 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 ' | * Small programs can be streamed directly to the robot with the ' | ||
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* With larger programs (1000+ targets(? | * With larger programs (1000+ targets(? | ||
* Larger programs (2500+ targets) cannot be streamed. Use the 'Save Program' | * Larger programs (2500+ targets) cannot be streamed. Use the 'Save Program' | ||
- | * This file is created right away. | + | * This file is created right away (it's streamed). |
* Change the .URS extension to .script | * Change the .URS extension to .script | ||
- | * Open the script in a script editor, copy the function name at the top, and add to the bottom '' | + | * Open the script in a script editor, copy the function name at the top, and add to the bottom '' |
* Upload to the robot via SFTP (place it somewhere in the map '/ | * Upload to the robot via SFTP (place it somewhere in the map '/ | ||
* Make a new program, add the script module, change it from line to file, and load the file from the programs folder. | * Make a new program, add the script module, change it from line to file, and load the file from the programs folder. | ||
* This doesn' | * This doesn' | ||
+ | * 485 targets works | ||
+ | * 24673 targets already doesn' | ||
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* [[https:// | * [[https:// | ||
+ | == 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' | ||
+ | |||
+ | * < | ||
+ | * or | ||
+ | * < | ||
+ | |||
+ | |||
+ | |||
+ | |||
+ | == Related ' | ||
+ | * Wirecutting with Grasshopper & Robots ([[https:// | ||
==== FTP connection ==== | ==== FTP connection ==== | ||
* Use FIleZilla | * Use FIleZilla | ||
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+ | ==== RoboDK ==== | ||
+ | - [[https:// | ||
+ | |||
+ | |||
+ | ===== Hardware | ||
==== Toolhead connector ==== | ==== Toolhead connector ==== | ||
A suitable cable that mates to the toolhead connector is [[https:// | A suitable cable that mates to the toolhead connector is [[https:// | ||
- | ===== future tool heads ===== | + | |
- | * 3D scanner tool head | + | |
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{{: | {{: | ||
{{: | {{: | ||
- | ===== 3D print attachment | + | ===== 3D printer (Clay) ===== |
+ | In development | ||
+ | |||
+ | {{: | ||
+ | ===== 3D printer (Plastic) | ||
In development | In development | ||
{{: | {{: | ||
- | ===== Pen plotter | + | |
+ | |||
+ | ===== Pen plotter ===== | ||
{{: | {{: | ||
Used by [[http:// | Used by [[http:// | ||
- | [[Drawing with the UR10]] | + | [[Drawing with the UR10]] |
+ | [[Drawing with the UR10 V2]] (Grasshopper) | ||
===== Webcam attachment ===== | ===== Webcam attachment ===== | ||
{{: | {{: |