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ur10_robot_arm:ur10_robot_arm [2020/08/06 07:39] – [Brush attachment] formlab | ur10_robot_arm:ur10_robot_arm [2023/04/17 03:29] – [FTP connection] formlab | ||
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Collaborative robot-arm | Collaborative robot-arm | ||
+ | References: | ||
+ | * [[https:// | ||
+ | * [[https:// | ||
+ | ===== Software ===== | ||
+ | * [[ur10_robot_arm: | ||
+ | * Grasshopper + Robots | ||
+ | * Rodo-DK | ||
+ | * Other possible control software | ||
+ | * Python | ||
+ | * [[https:// | ||
+ | ==== Polyscope (the teaching pendant) ==== | ||
- | Applications | + | === Define TCP === |
+ | * Click ‘new’ (you cant rename TCP’s) | ||
+ | * Define the position | ||
+ | * 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) | ||
+ | * 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) | ||
+ | |||
+ | Test the setup: | ||
+ | * rotate the robot around the TCP on the teaching pendant (move tab). The tool tip should stay still in space while the rest of the robot rotates around it. | ||
+ | |||
+ | ==== RoboDK ==== | ||
+ | - [[https:// | ||
+ | |||
+ | |||
+ | ==== Grasshopper ==== | ||
+ | |||
+ | Grasshopper runs inside Rhino 7. In order to control the robot arm, a plugin is needed: | ||
+ | |||
+ | |||
+ | === The Robots plugin === | ||
+ | == Installation == | ||
+ | |||
+ | * In Rhino, go to '' | ||
+ | * Search for ' | ||
+ | * Select version '' | ||
+ | * Everything below version '' | ||
+ | * Briefly tested versions: '' | ||
+ | |||
+ | == Robots.dll file == | ||
+ | |||
+ | If Rhino keeps asking to locate the Robots.dll file, here's a tip. Make all grasshopper projects (files with a '' | ||
+ | * On mac: cmd + i, under sharing & permissions, | ||
+ | * Location of the robots.dll file: | ||
+ | * '' | ||
+ | |||
+ | == Guides == | ||
+ | |||
+ | * [[https:// | ||
+ | * There are a few example files in (' | ||
+ | * I followed this [[https:// | ||
+ | * Robots guide by [[https:// | ||
+ | * Drawing with robots [[https:// | ||
+ | * [[https:// | ||
+ | |||
+ | I tried adapting the ' | ||
+ | |||
+ | |||
+ | == Tips == | ||
+ | * The first target should be a joint target. Following ones can be cartesian targets. | ||
+ | == Upload script to robot == | ||
+ | * Small programs can be streamed directly to the robot with the ' | ||
+ | * Send the program to the robot by clicking ' | ||
+ | * The arm starts moving without warning(!). | ||
+ | * With larger programs (1000+ targets(? | ||
+ | * Larger programs (2500+ targets) cannot be streamed. Use the 'Save Program' | ||
+ | * This file is created right away (it's streamed). | ||
+ | * 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 '' | ||
+ | * 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. | ||
+ | * This doesn' | ||
+ | * 485 targets works | ||
+ | * 24673 targets already doesn' | ||
+ | |||
+ | |||
+ | === URRealtimeFeedback plugin for Robots === | ||
+ | This is a grasshopper file with some builtin scripts that allows to receive the current pose of the robot arm. | ||
+ | |||
+ | * [[https:// | ||
+ | * [[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 ==== | ||
+ | * Use FIleZilla | ||
+ | * Host: '' | ||
+ | * Username: root | ||
+ | * Password: easybot | ||
+ | * Port: 22 (also works without entering anything here) | ||
+ | |||
+ | Location of program (URP) or script (URS) files: ''/ | ||
+ | |||
+ | |||
+ | ==== RoboDK ==== | ||
+ | - [[https:// | ||
+ | |||
+ | |||
+ | ===== Hardware | ||
+ | ==== Toolhead connector ==== | ||
+ | |||
+ | 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:// | ||
+ | |||
+ | [[Drawing with the UR10]] (RoboDK).\\ | ||
+ | [[Drawing with the UR10 V2]] (Grasshopper) | ||
===== Webcam attachment ===== | ===== Webcam attachment ===== | ||
+ | {{: | ||
+ | {{: | ||
===== DSLR attachment ===== | ===== DSLR attachment ===== |