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Home > Robotiq Products > Pick & Place with Insertion in Jig
Etienne_Samson

Challenge with increased difficulty: Pick & Place with insertion in jig

Provided material :

  • Multiple PCBs
    zoom
  • PCB test jig
    zoom
Goal: Locate the PCB using vision, pick and insert inside the test jig.

Hint: Use the sensor signal to guide the jig insertion.

Good luck!
Ryan_Weaver

Team 3 

After a million iterations, Task 2 complete!
https://www.youtube.com/watch?v=bEVqJ-uPEHY

Code

Program
   Init Variables
   BeforeStart
     Script: accessor_capt.script
     socket_close("stream")
     socket_open("127.0.0.1",63351,"stream")
     var_2≔get_actual_tcp_pose()
     MoveJ
       var_2
   Robot Program
     Loop
       'Write robot program here.'
       Call SubP_team_3_x_t
       Wait: 0.01
   Thread_1
     sensor_data≔socket_read_ascii_float(6,"stream")
     If sensor_data[0] ≥6
       Fx≔sensor_data[1]
       Fy≔sensor_data[2]
       Fz≔sensor_data[3]
       Mx≔sensor_data[4]
       My≔sensor_data[5]
       Mz≔sensor_data[6]
     Else
       Fx≔0.0
       Fy≔0.0
       Fz≔0.0
       Mx≔0.0
       My≔0.0
       Mz≔0.0
   SubP_rq_set_zero
     rq_set_zero()
   SubP_rq_print_firmware_version
     rq_print_firmware_version()
   SubP_rq_print_prod_year
     rq_print_prod_year()
   SubP_rq_print_serial_number
     rq_print_serial_number()
   SubP_rq_print_version
     rq_get_version()
   SubP_team_3_x_t
     MoveJ
       Waypoint_1
       Gripper Open
     Camera Locate
       MoveL
         Waypoint_2
         Waypoint_3
         Gripper Close
         Waypoint_2
       MoveJ
         Waypoint_5
       Pallet
         Pattern: Line
           StartPos_1
           EndPos_1
         PalletSequence
           Approach_1
           PatternPoint_1
           Wait: 1.0
           Loop Fz>-3
             Waypoint_4
           Waypoint_7
           'Waypoint_6'
           'If My>10'
           Loop Mx>-.5
             Waypoint_6
             sync()
           'Waypoint_7'
           'Waypoint_8'
           Gripper Open
       MoveJ
         Waypoint_9



Cody_James

Team 1

Challenge 2 complete:

https://youtu.be/bQKpV26vYnk

Code

Program
   Init Variables
   BeforeStart
     Script: accessor_capt.script
     socket_close("stream")
     socket_open("127.0.0.1",63351,"stream")
   Robot Program
     MoveJ
       Gripper Move 52%
       Waypoint_1
     Camera Locate
       MoveL
         app
         pick
         Gripper Move 72%
         app
       MoveL
         Waypoint_3
       Pallet
         Pattern: Line
           StartPos_1
           EndPos_1
         PalletSequence
           Waypoint_4
           Approach_1
           'PatternPoint_1'
           Loop norm(Mx)<0.5
             var_1≔get_actual_tcp_pose()
             var_2≔pose_add(var_1,p[-0.0005,0,0,0,0,0])
             var_2
           Loop norm(Fz)<10
             var_3≔pose_trans(get_actual_tcp_pose(),p[0,0,0,0.01,0,0])
             var_3
           Gripper Move 52%
           Exit_1
       MoveJ
         Waypoint_3
   Thread_1
     sensor_data≔socket_read_ascii_float(6,"stream")
     If sensor_data[0] ≥6
       Fx≔sensor_data[1]
       Fy≔sensor_data[2]
       Fz≔sensor_data[3]
       Mx≔sensor_data[4]
       My≔sensor_data[5]
       Mz≔sensor_data[6]
     Else
       Fx≔0.0
       Fy≔0.0
       Fz≔0.0
       Mx≔0.0
       My≔0.0
       Mz≔0.0
   SubP_rq_set_zero
     rq_set_zero()
   SubP_rq_print_firmware_version
     rq_print_firmware_version()
   SubP_rq_print_prod_year
     rq_print_prod_year()
   SubP_rq_print_serial_number
     rq_print_serial_number()
   SubP_rq_print_version
     rq_get_version()



Enric

https://youtu.be/RGwVpv0XyN8

Code 

Program
   Init Variables
   BeforeStart
     Script: accessor_capt.script
     socket_close("stream")
     socket_open("127.0.0.1",63351,"stream")
     Gripper Open
     Maxim≔0.5
   Robot Program
     Loop 5 times
       'Write robot program here.'
       Wait: 0.01
       Call SubP_chalenge2
       'Switch Loop_1'
       'var_1≔...'
   SubP_chalenge2
     Folder
       MoveJ
         Gripper Open
         Waypoint_2
       Camera Locate
         MoveL
           Waypoint_3
           Waypoint_1
           Gripper Close
           Waypoint_4
         Switch Loop_1
           Case 0
             MoveJ
               pos_1
               If norm([Mx])<Maxim
                 MoveL
                   approach_1
               Gripper Open
               Exit_1
           Case 1
             MoveJ
               pos_2
               If norm([Mx])<Maxim
                 MoveL
                   approach_2
               Gripper Open
               Exit_2
           Case 2
             MoveJ
               pos_3
               approach_3
               If norm([Mx])<Maxim
                 MoveL
                   'approach_3'
                   Waypoint_5
               Gripper Open
               Exit_3
           Case 3
             MoveJ
               pos_4
               If norm([Mx])<Maxim
                 MoveL
                   approach_4
               Gripper Open
               Exit_4
   Thread_1
     sensor_data≔socket_read_ascii_float(6,"stream")
     Loop_1≔Loop_1
     If sensor_data[0] ≥6
       Fx≔sensor_data[1]
       Fy≔sensor_data[2]
       Fz≔sensor_data[3]
       Mx≔sensor_data[4]
       My≔sensor_data[5]
       Mz≔sensor_data[6]
     Else
       Fx≔0.0
       Fy≔0.0
       Fz≔0.0
       Mx≔0.0
       My≔0.0
       Mz≔0.0
     sync()
   SubP_rq_set_zero
     rq_set_zero()
   SubP_rq_print_firmware_version
     rq_print_firmware_version()
   SubP_rq_print_prod_year
     rq_print_prod_year()
   SubP_rq_print_serial_number
     rq_print_serial_number()
   SubP_rq_print_version
     rq_get_version()


Team4 @Juanjo @Enric @Adam529dp
Johnson_Liu

Here is the video from our team 5.

https://www.youtube.com/watch?v=hFvGc03HrqE

Code

Program
   Init Variables
   BeforeStart
     cp≔get_target_tcp_pose()
     MoveJ
       cp
     rq_activate_and_wait()
     Script: accessor_capt.script
     socket_close("stream")
     socket_open("127.0.0.1",63351,"stream")
   Robot Program
     Gripper Open
     MoveJ
       Waypoint_3
     Camera Locate
       MoveL
         Waypoint_1
         Waypoint_2
         Gripper Close
         Waypoint_1
       MoveJ
         Waypoint_4
       Pallet
         Pattern: Line
           StartPos_1
           EndPos_1
         PalletSequence
           Approach_1
           PatternPoint_1
           Call SubP_rq_set_zero
           Wait: 1.0
           If Mx≥-1.0
             MoveL
               Waypoint_5
           Waypoint_7
           Gripper Open
           Exit_1
   Thread_2
     cp≔get_target_tcp_pose()
     sync()
   Thread_1
     sensor_data≔socket_read_ascii_float(6,"stream")
     If sensor_data[0] ≥6
       Fx≔sensor_data[1]
       Fy≔sensor_data[2]
       Fz≔sensor_data[3]
       Mx≔sensor_data[4]
       My≔sensor_data[5]
       Mz≔sensor_data[6]
     Else
       Fx≔0.0
       Fy≔0.0
       Fz≔0.0
       Mx≔0.0
       My≔0.0
       Mz≔0.0
   SubP_rq_set_zero
     rq_set_zero()
   SubP_rq_print_firmware_version
     rq_print_firmware_version()
   SubP_rq_print_prod_year
     rq_print_prod_year()
   SubP_rq_print_serial_number
     rq_print_serial_number()
   SubP_rq_print_version
     rq_get_version()



Tyler_Berryman

Better late, than never. Here is the video for team 2!

https://youtu.be/0cHD8OlhBhM

Code

Program
   Init Variables
   BeforeStart
     Script: accessor_capt.script
     socket_close("stream")
     socket_open("127.0.0.1",63351,"stream")
   Robot Program
     MoveJ
       Gripper Move 52%
       Waypoint_1
     Camera Locate
       MoveL
         app
         pick
         Gripper Move 72%
         app
       MoveL
         Waypoint_3
       Pallet
         Pattern: Line
           StartPos_1
           EndPos_1
         PalletSequence
           Waypoint_4
           Approach_1
           'PatternPoint_1'
           Loop norm(Mx)<0.5
             var_1≔get_actual_tcp_pose()
             var_2≔pose_add(var_1,p[-0.0005,0,0,0,0,0])
             var_2
           Loop norm(Fz)<10
             var_3≔pose_trans(get_actual_tcp_pose(),p[0,0,0,0.01,0,0])
             var_3
           Gripper Move 52%
           Exit_1
       MoveJ
         Waypoint_3
   Thread_1
     sensor_data≔socket_read_ascii_float(6,"stream")
     If sensor_data[0] ≥6
       Fx≔sensor_data[1]
       Fy≔sensor_data[2]
       Fz≔sensor_data[3]
       Mx≔sensor_data[4]
       My≔sensor_data[5]
       Mz≔sensor_data[6]
     Else
       Fx≔0.0
       Fy≔0.0
       Fz≔0.0
       Mx≔0.0
       My≔0.0
       Mz≔0.0
   SubP_rq_set_zero
     rq_set_zero()
   SubP_rq_print_firmware_version
     rq_print_firmware_version()
   SubP_rq_print_prod_year
     rq_print_prod_year()
   SubP_rq_print_serial_number
     rq_print_serial_number()
   SubP_rq_print_version
     rq_get_version()


Tyler_Berryman

Hey guys! This is how we did challenge 2 at Robotiq:

https://www.youtube.com/watch?v=NJzX2LpwHYc&feature=youtu.be

For this challenge, we used the vision system to identify the PCB. Then, we used the object detection feature to verify that our pick was successful. Upon a successful pick, we move the PCB towards the insertion jig with a slight angle. This angle will give clearance to the pins underneath the PCB. The next step in the program is to slowly move the PCB towards the end of the insertion jig. While the robot is moving the PCB, we are constantly monitoring the force to see when the PCB has encountered the edge of the insertion jig. Once the force has reached the threshold that we set previously, the robot will lay the PCB flat against the insertion jig. This will avoid any possible "Sticky Finger" Problems when releasing the part. We have also used popups to show when you could use an I/O to empty your tray or to activate a feeder. 

Enjoy!
Tyler_Berryman 

Program
   Init Variables
   BeforeStart
     Script: accessor_capt.script
     socket_close("stream")
     socket_open("127.0.0.1",63351,"stream")
   Robot Program
     MoveJ
       Waypoint_1
       Camera Locate
         MoveL
           Gripper Move 52%
           Approach_Pos
           Pick_Pos
           Gripper Close
           find≔0
           If rq_is_object_detected()
             MoveJ
               Retreat_Pos
               Set Count=Count+1
               Approach_Tray
             Pallet
               Pattern: Line
                 StartPos_1
                 EndPos_1
               PalletSequence
                 Tray_Pos
                 Loop norm(Mx)<0.5
                   var_1≔get_actual_tcp_pose()
                   var_2≔pose_add(var_1,p[-0.0005,0,0,0,0,0])
                   var_2
                 No_Sticky_Finge
                 Gripper Move 52%
                 Place_Retreat
                 If Count≟4
                   Popup
                   Count≔0
           Else
             Popup
       Set find=find+1
       If find≟5
         Popup
         find≔0
   Thread_1
     sensor_data≔socket_read_ascii_float(6,"stream")
     If sensor_data[0] ≥6
       Fx≔sensor_data[1]
       Fy≔sensor_data[2]
       Fz≔sensor_data[3]
       Mx≔sensor_data[4]
       My≔sensor_data[5]
       Mz≔sensor_data[6]
     Else
       Fx≔0.0
       Fy≔0.0
       Fz≔0.0
       Mx≔0.0
       My≔0.0
       Mz≔0.0
   SubP_rq_set_zero
     rq_set_zero()
   SubP_rq_print_firmware_version
     rq_print_firmware_version()
   SubP_rq_print_prod_year
     rq_print_prod_year()
   SubP_rq_print_serial_number
     rq_print_serial_number()
   SubP_rq_print_version
     rq_get_version()