multiple start points

lukemallen4

I would like to have multiple places to put a part to be picked by the UR10 each with a different sensor to let robot know if a part is in that spot or not, is this a task to use If/else, could you use plc to specify what waypoint to go to?

matthewd92

@lukemallen4 there are several ways that you could go about doing something like that.  You could use an if/else-if/else statement, you could squash an array of the sensors to an integer and then use a switch case.  You could presumably control pick sequence more creatively when more than 1 sensor is made.  You could also use a PLC to pass back a waypoint using 6 registers to store the 6 components of the waypoint in or use socket communications and pass back a list of coordinates.

You could also pre-define your waypoints and then store them in a list of poses.  You could then iterate through a list of the sensors and when you get to a sensor that is on, just use the same index in the list of poses to know which waypoint to go to. 

The short answer as you can see is there are lots of ways to solve this problem.  What is the goal of having multiple places to pick, is it that the robot can go to any of them at any time, pick in a certain sequence from all of the sensors, have different parts placed at different positions and use the sensor to drive the program for what to do with that part with each sensor being a unique part type?

If you can provide some more details about what you are trying to achieve and why we can probably provide better solutions.