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Gabriel_Boucher

Gabriel_Boucher

Re: Gripper integration to Doosan Cobot

@BenjaminK No problem. Right now, robots that we support and have an easy interface to control the gripper are: -UR -TM/OMRON -Hanwha We also support Yaskawa on the HC10 robot and Doosan robots but they do not have a simple interface like all the others. However, Yaskawa does have a something close to an interface. It is a TOOL I/O button that allows to toggle the gripper and a subprogram that can control the gripper simply by entering the parameter for position, speed, and force as well as the grip direction. The setup required is however fairly long since it uses Ethernet/IP communication. That also means that it requires a Universal Controller. If you are looking for simplicity, UR, TM/OMRON, or Hanwha are currently the go to robots. Hope this helps, Gabriel Boucher

Gabriel_Boucher

Gabriel_Boucher

Re: Gripper integration to Doosan Cobot

Hello @BenjaminK, Unfortunately, thre is no intuitive interface right now for the gripper and it requires a Robotiq Universal Controller because the communication is Modbus/TCP. However, from what we know the team at Doosan is currently working on an interface for our gripper and they are implementing Modbus RTU which only requires the USB converter. Sadly we have no ETA on this since we are not the ones developping it, but it is coming. I agree that using scripts is fairly annoying since there needs to be aseparate program to jog the gripper, but right now it is the best that can be done. If you have any other questions, feel free to ask. Gabriel Boucher

bcastets

Re: Wrist camera: Control picking order

Here are program files.

bcastets

Wrist camera: Control picking order

By default the wrist camera process detected objects from high to low detection score. However in some application like "tray picking" you may prefer to control picking order. This post present a program which process detected objects line by line. Here is the methodology: * Detect tray position with the camera and save it in a variable. From this position, it is possible to locate all tray placements. * Detect with the camera the position of all objects available in the tray and save it in a list. * Use the distance between object position and tray placements to process objects in the desired order. The program use parametric model to detect tray and objects but it is also possible to make a similar program with automatic model.

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