Differences

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--- ur10_robot_arm:ur10_robot_arm [2023/02/28 02:39] – [Robots.dll file] formlab
+++ ur10_robot_arm:ur10_robot_arm [2023/04/17 03:32] – [Software] formlab
@@ Line 8: / Line 8: @@
   * [[https://www.zacobria.com/pdf/universal_robots_zacobria_hints_and_tips_manual_1_4_3.pdf|Hints and tips by Zacobria]]
 ===== 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 ===
@@ Line 56: / Line 61: @@
   * 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.
+  * [[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.
+== 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 'Remote Connection' module.\\ {{:ur10_robot_arm:robots_sendtorobot.png?400|}}
@@ Line 83: / Line 92: @@
 == 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
-{{: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 ====
   * Use FIleZilla
@@ Line 95: / Line 113: @@
 Location of program (URP) or script (URS) files: ''/programs''
+==== RoboDK ====
+- [[https://www.youtube.com/watch?v=WmyIAgNyPC0|Reference Frame Definition]]
 ===== Hardware  =====