ur10_robot_arm:ur10_robot_arm

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ur10_robot_arm:ur10_robot_arm [2023/02/28 02:35] – [Installation] formlabur10_robot_arm:ur10_robot_arm [2023/04/17 03:32] – [Grasshopper] formlab
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   * [[https://www.zacobria.com/pdf/universal_robots_zacobria_hints_and_tips_manual_1_4_3.pdf|Hints and tips by Zacobria]]   * [[https://www.zacobria.com/pdf/universal_robots_zacobria_hints_and_tips_manual_1_4_3.pdf|Hints and tips by Zacobria]]
 ===== Software ===== ===== Software =====
- +  * [[ur10_robot_arm:ur10_robot_arm#polyscope_the_teaching_pendant|Polyscope (the teaching pendant)]] 
-==== Teaching pendant (Polyscope) ====+  * [[ur10_robot_arm:ur10_robot_arm#grasshopper|Grasshopper]] 
 +  * [[ur10_robot_arm:ur10_robot_arm#robodk|Rodo-DK]] 
 +  * Other possible control software 
 +    * Python 
 +    * [[https://etasl.pages.gitlab.kuleuven.be/|eTaSL]] 
 +==== Polyscope (the teaching pendant) ====
  
 === Define TCP === === Define TCP ===
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 ==== 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 plugin is needed: Robots.
  
  
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     * Briefly tested versions: ''1.0.1'', ''1.3.0'', ''1.4.1'' seem to work. ''1.5.0'', ''1.6.0'' are too new for the get-current-position-script (see below).     * Briefly tested versions: ''1.0.1'', ''1.3.0'', ''1.4.1'' seem to work. ''1.5.0'', ''1.6.0'' are too new for the get-current-position-script (see below).
  
 +== Robots.dll file ==
  
-Make all grasshopper project files (with the .gh extension) writable. This way you'll need to reference the location of the ''robot.dll'' file only once. On mac: cmd + i, under sharing & permissions, change the privilege of 'everyone' to Read & Write. +If Rhino keeps asking to locate the Robots.dll file, here's a tip. Make all grasshopper projects (files with a ''.gh'' extension) writable. This way you'll need to reference the location of the ''robot.dll'' file only once.  
-Location of the robots.dll file: ''username/Library/Application Support/McNeel/Rhinoceros/packages/7.0/Robots/1.4.1/Robots.dll''+  * On mac: cmd + i, under sharing & permissions, change the privilege of 'everyone' to Read & Write. 
 +  * Location of the robots.dll file: 
 +    * ''username/Library/Application Support/McNeel/Rhinoceros/packages/7.0/Robots/1.4.1/Robots.dll''
  
 == Guides == == Guides ==
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   * Robots guide by [[https://wiki.fablabbcn.org/ROBOTS|Fab Lab Barcelona]] (almost a complete copy from Robots How-To-Use).   * Robots guide by [[https://wiki.fablabbcn.org/ROBOTS|Fab Lab Barcelona]] (almost a complete copy from Robots How-To-Use).
   * Drawing with robots [[https://www.youtube.com/watch?v=vyYAmu00xMg&t=1019s&ab_channel=KarlSingline|video tutorial]]. Uses KukaPRC instead of 'Robots', but workflow might be useful.   * Drawing with robots [[https://www.youtube.com/watch?v=vyYAmu00xMg&t=1019s&ab_channel=KarlSingline|video tutorial]]. Uses KukaPRC instead of 'Robots', but workflow might be useful.
 +  * [[https://www.youtube.com/playlist?list=PLqtxhH1qb3Mw5A_YbvHDfrq4DNNfLtcW-|Youtube video series 'programming robots in Grasshopper']]
  
 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 [[http://fab.cba.mit.edu/classes/863.19/Harvard/people/joonhaenglee/week14/week14.html|this guide]] Joonhaeng Lee at [[http://cba.mit.edu/|MIT's center for bits and atoms]] describes a solution to this problem. 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 [[http://fab.cba.mit.edu/classes/863.19/Harvard/people/joonhaenglee/week14/week14.html|this guide]] Joonhaeng Lee at [[http://cba.mit.edu/|MIT's center for bits and atoms]] describes a solution to this problem.
  
 +
 +== 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 'Remote Connection' module.\\ {{:ur10_robot_arm:robots_sendtorobot.png?400|}}   * Small programs can be streamed directly to the robot with the 'Remote Connection' module.\\ {{:ur10_robot_arm:robots_sendtorobot.png?400|}}
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 == Setup == == Setup ==
-  * Do not connect to the LAN network of KASK. Instead connect to the robot arm via a separate switch.+  * 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's, except for the last number   * Set the computer to a static IP address that is the same as the Robot's, except for the last number
-{{:ur10_robot_arm:screen_shot_2023-02-28_at_10.45.42.png?600|}} 
  
 +
 +  * <code>Computer -------------- Robot arm</code>
 +  * or 
 +  * <code>Computer --- Switch --- Robot arm</code>
 +
 +
 +
 +
 +== Related 'Robots' projects ==
 +  * Wirecutting with Grasshopper & Robots ([[https://www.youtube.com/watch?v=-JtDSXmi1YI&ab_channel=GediminasKirdeikis|video]])
 ==== FTP connection ==== ==== FTP connection ====
   * Use FIleZilla   * Use FIleZilla
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 Location of program (URP) or script (URS) files: ''/programs'' Location of program (URP) or script (URS) files: ''/programs''
 +
 +
 +==== RoboDK ====
 +- [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]]
 +
  
 ===== Hardware  ===== ===== Hardware  =====
  • ur10_robot_arm/ur10_robot_arm.txt
  • Last modified: 2023/04/17 03:40
  • by formlab