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Home > Robotiq Products > Advanced Assembly of a Robotiq Universal Controller
Etienne_Samson

This challenge consists of an advanced assembly of a Robotiq Universal Controller

Provided material:

  • Control box with panel
    zoom
  • Panel screws (black)
  • Din rails with screws
  • PCB with screws
    zoom
  • 12V Spur Gearmotor with hex-shank bit holder
  • Complete bit set
Goal: Use vision to pick the PCB, the panel and the DIN rails. Assemble the control box.

Hint 1: You can control the motor with IO's.

Hint 2: You can insert the PCB in place using force signals.

Good luck!
Catherine_Bernier

Team 3

Part 1: PCB Insertion using force sensor

https://www.youtube.com/watch?v=L6TJVJl2s68

Part 2: Lid Placement

https://www.youtube.com/watch?v=DtYgwjChN3k

Here is the code

Loop
       'Write robot program here.'
       Call Task_4
       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()
   Task_4
     MoveJ
       Waypoint_1
     Gripper Move 65%
     'Camera Locate'
     Gripper Open
     Camera Locate
       MoveL
         Waypoint_14
         Waypoint_16
         Gripper Close
         Waypoint_14
       MoveJ
         Waypoint_17
         Waypoint_18
         Gripper Open
         Waypoint_17
         Waypoint_19
         Gripper Close
         Wait: 1.0
         Loop Fy<5
           MoveL
             Waypoint_20
         Waypoint_23
         Waypoint_21
         Wait: 1.0
         Loop Fx>-5
           MoveL
             Waypoint_22
         Waypoint_21


Enric

Team 4

https://youtu.be/eBgwslfFFGA

With Force torque and Path recording

Code

 Program
   BeforeStart
     Folder
       Script: accessor_capt.script
       socket_close("stream")
       socket_open("127.0.0.1",63351,"stream")
       rq_set_zero()
       Gripper Open
   Robot Program
     Gripper Open
     MoveJ
       Waypoint_1
     'Camera Locate'
     'MoveJ'
     'Camera Locate'
     Tornillo1
       MoveJ
         Waypoint_16
         Waypoint_18
         MoveL
           Set TO[0]=On
           Waypoint_17
           Wait: 1.0
           Set TO[0]=Off
           Waypoint_18
         Waypoint_20
         Set TO[0]=On
         MoveL
           Waypoint_19
           Loop get_tool_current()<.200
             var_2≔pose_trans(Tool,p[-0.000,-0.000,0.001,0,0,0])
             var_2
           Set TO[0]=Off
           Waypoint_20
   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
     sync()
Annick_Mottard

Here is the code Team 1 developed for this challenge! We made it to the first screw!

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 56%
       Waypoint_1
     Camera Locate
       MoveL
         app
         pick
         Gripper Close
         app
       MoveJ
         App_Fixture
         Waypoint_16
       MoveL
         Waypoint_17
         Waypoint_18
         Waypoint_19
         Wait: 1.0
         Gripper Move 68%
         Waypoint_2
         Gripper Close
         Waypoint_4
         Waypoint_5
         Waypoint_6
         Waypoint_7
         Gripper Open
       MoveL
         Waypoint_8
         Waypoint_3
         Waypoint_9
         Gripper Close
         Waypoint_10
         Waypoint_11
         Waypoint_12
         Gripper Open
         Waypoint_13
         Waypoint_14
         Waypoint_15
         Waypoint_13
       MoveL
         Waypoint_20
         Waypoint_21
         Gripper Close
         Set
         Loop 4 times
           Pallet
             Pattern: Line
               StartPos_1
               EndPos_1
             PalletSequence
               Approach_1
               Set TO[0]=On
               PatternPoint_1
               Wait: 1.0
               Set TO[0]=Off
               Exit_1
           Waypoint_22
           Pallet
             Pattern: Square
               a1st_Corner_1
               a2nd_Corner_1
               a3rd_Corner_1
               a4th_Corner_1
             PalletSequence
               Approach_2
               PatternPoint_2
               set_tool_voltage(12)
               Set TO[0]=On
               Wait: 0.5
               'set_tool_voltage(24)'
               Force
                 Wait get_tool_current()≟0.35
                 Set TO[0]=Off
               Exit_2
           Waypoint_22
   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

We did not use the vision system, but we managed to build "fairly" rigid positioning jigs. We made it to the first screw.

Here is the video for Team #2
https://youtu.be/V0VHJ4Dx8Ws

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 56%
       Waypoint_1
     Camera Locate
       MoveL
         app
         pick
         Gripper Close
         app
       MoveJ
         App_Fixture
         Waypoint_16
       MoveL
         Waypoint_17
         Waypoint_18
         Waypoint_19
         Wait: 1.0
         Gripper Move 68%
         Waypoint_2
         Gripper Close
         Waypoint_4
         Waypoint_5
         Waypoint_6
         Waypoint_7
         Gripper Open
       MoveL
         Waypoint_8
         Waypoint_3
         Waypoint_9
         Gripper Close
         Waypoint_10
         Waypoint_11
         Waypoint_12
         Gripper Open
         Waypoint_13
         Waypoint_14
         Waypoint_15
         Waypoint_13
       MoveL
         Waypoint_20
         Waypoint_21
         Gripper Close
         Set
         Loop 4 times
           Pallet
             Pattern: Line
               StartPos_1
               EndPos_1
             PalletSequence
               Approach_1
               Set TO[0]=On
               PatternPoint_1
               Wait: 1.0
               Set TO[0]=Off
               Exit_1
           Waypoint_22
           Pallet
             Pattern: Square
               a1st_Corner_1
               a2nd_Corner_1
               a3rd_Corner_1
               a4th_Corner_1
             PalletSequence
               Approach_2
               PatternPoint_2
               set_tool_voltage(12)
               Set TO[0]=On
               Wait: 0.5
               'set_tool_voltage(24)'
               Force
                 Wait get_tool_current()≟0.35
                 Set TO[0]=Off
               Exit_2
           Waypoint_22
   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()
Alexandre_Pare

Here is what were able to do for team 5, we weren't able to complete the challenge.

 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
       snap
     Camera Locate
       Gripper Move 54%
       MoveL
         prepick2
         pick2
         Gripper Close
         prepick2
       MoveJ
         preplace2
       MoveL
         Path
         Gripper Move 67%
         preplace2
         Gripper Open
     MoveJ
       snap
     Camera Locate
       MoveL
         prepick1
         pick1
         Gripper Close
         prepick1
       MoveJ
         preplace1
       MoveL
         place1
         Gripper Open
         preplace1
     MoveJ
       pickpin1
     MoveL
       pin1
       Set TO[0]=On
       rel
       Set TO[0]=Off
       pickpin1
     MoveJ
       pin1top
     MoveL
       prescrew
       Set TO[0]=On
       If Fz≤50
         Waypoint_1
       Set TO[0]=Off
   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()
Etienne_Samson

Here is what we did.
We used the camera to located the PCB and programmed waypoints for the rest of the application. 

https://youtu.be/rpJ_7EkGjzw

Program
   Robot Program
     MoveJ
       Waypoint_1
       Gripper Open
     Camera Locate
       MoveL
         Waypoint_12
         Gripper Move 56%
         Waypoint_13
         Gripper Close
         Waypoint_14
       MoveJ
         Waypoint_15
         Waypoint_16
         Waypoint_17
         Waypoint_18
         Waypoint_19
         Waypoint_20
         Gripper Move 67%
         Waypoint_21
         Waypoint_22
         Waypoint_23
         Waypoint_24
         Waypoint_25
         Waypoint_26
         Waypoint_27
         Waypoint_28
         Waypoint_29
     MoveJ
       Waypoint_1
       Gripper Open
     Halt