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Home > Robotiq Products > Place parts in tray with camera and gripper
Etienne_Samson

Hi Pros,

The challenge is to perform a pick and place with a tray using our camera and gripper.

Provided material :

  • 3 Parts
    zoomzoomzoom
  • Foam packaging
    zoom
The goal is to Identify the 3 parts and place them in the appropriate packaging.

Hint: A flat surface is much easier to grasp than an angled surface.

To add to the challenge, try to handle both the part being flat and the part being upside. 
Ryan_Weaver

Team 3
https://youtu.be/jIrblh52d84

Here is the code:

Program
   BeforeStart
     var_1≔get_actual_tcp_pose()
     MoveJ
       var_1
     var_2≔0
   Robot Program
     Gripper Open
     MoveJ
       Waypoint_1
     Camera Locate
       MoveL
         Gripper Open
         Waypoint_2
         Waypoint_3
         Gripper Close
         Waypoint_2
         var_2≔var_2+1
       MoveJ
         Waypoint_4
       If var_2≟1
         MoveJ
           Waypoint_5
           Gripper Open
           Waypoint_6
       ElseIf var_2≟2
         MoveJ
           Waypoint_7
           Gripper Open
           Waypoint_6
       ElseIf var_2≟3
         MoveJ
           Waypoint_8
           Gripper Open
           Waypoint_6
     MoveJ
       Waypoint_9
     Camera Locate
       MoveL
         Waypoint_10
         Waypoint_11
         Gripper Close
         Waypoint_10
         var_2≔var_2+1
       Pallet
         Pattern: Line
           StartPos_1
           EndPos_1
         PalletSequence
           Approach_1
           PatternPoint_1
           Gripper Move 69%
           Exit_1



Samuel_Bouchard
Cody_James

Team 1
Pick and place with parts standing up and laying down. The team used two Cam Locate nodes, one for the part being flat and the other one for the part being up. We used a flag to detect when one of the objects was detected, so the program would go to the beginning. We also used the Pallet function to insert the parts in the tray.

https://www.youtube.com/watch?v=3-dwFFjQBXY

Here is the code and the program in attach

Program
   Robot Program
     Gripper Open
     flag1≔ False 
     MoveJ
       Waypoint_1
     Camera Locate
       MoveL
         Waypoint_4
         Waypoint_5
         Gripper Close
         Waypoint_6
       MoveJ
         Waypoint_7
       Pallet
         Pattern: Line
           StartPos_2
           EndPos_2
         PalletSequence
           Approach_2
           PatternPoint_2
           Gripper Move 28%
           Exit_2
       flag1≔ True 
       cnt_4≔cnt_4+1
     If flag1≟ False 
       Camera Locate
         MoveL
           app
           pick
           Gripper Close
           app
           Waypoint_3
         standing
           MoveL
             Waypoint_2
           Pallet
             Pattern: Line
               StartPos_1
               EndPos_1
             PalletSequence
               Approach_1
               PatternPoint_1
               Gripper Move 70%
               Exit_1
           cnt_3≔cnt_3+1
     If (cnt_3≟3) or (cnt_4≟3)
       cnt_3≔0
       cnt_4≔0


Adam529dp

Team 4 Challenge 1 complete
 with bad robotzoom

Program

 Program
   BeforeStart
     Gripper Open
   Robot Program
     Gripper Open
     MoveJ
       Waypoint_1
     'Camera Locate'
     Camera Locate
       MoveL
         Waypoint_6
         Waypoint_5
         Gripper Close
         Waypoint_6
         'Halt'
       MoveJ
         Waypoint_8
         Waypoint_7
         Pallet
           Pattern: Line
             StartPos_1
             EndPos_1
           PalletSequence
             Approach_1
             PatternPoint_1
             Gripper Open
             'Set'
             'Wait'
             Exit_1
             Waypoint_9
             Waypoint_10
         Waypoint_8
Johnson_Liu

Team 5
Here is the video from our team.

https://youtu.be/XAN2R4wZgqc

Code

Program
   BeforeStart
     cp≔get_target_tcp_pose()
     rq_activate_and_wait()
     MoveJ
       cp
   Robot Program
     Gripper Open
     MoveJ
       snapshot_pos_1
     Camera Locate
       <empty>
     Camera Locate
       <empty>
     Camera Locate
       MoveL
         app3
         pick3
         Gripper Close
         app3
       MoveJ
         preplace
         measure
         If ...
           <empty>
   Thread_1
     cp≔get_target_tcp_pose()
     sync()


Tyler_Berryman

Team 2 

Code:

 Program
   BeforeStart
     Gripper Open
     Count≔0
   Robot Program
     MoveJ
       Home
     Camera Locate
       Count≔Count+1
       MoveL
         Approach
         Pick
         Gripper Close
         Approach
       If Count≟1
         MoveJ
           Approach_Place
           Waypoint_1
           Waypoint_2
           Gripper Open
           Waypoint_1
       If Count≟2
         MoveJ
           Approach_Place
           Waypoint_4
           Waypoint_3
           Gripper Open
           Waypoint_4
       If Count≟3
         MoveJ
           Approach_Place
           Waypoint_5
           Waypoint_6
           Gripper Open
           Waypoint_5
       If Count≟4
         Halt
     MoveJ
       Home
     Camera Locate
       Count≔Count+1
       Gripper Open
       MoveL
         Waypoint_7
         Waypoint_8
         Gripper Close
         Waypoint_7
       If Count≟1
         MoveJ
           Waypoint_9
           Waypoint_10
           Waypoint_11
           Waypoint_12
           Gripper Move 34%
           Waypoint_11
       If Count≟2
         MoveJ
           Waypoint_9
           Waypoint_10
           Waypoint_13
           Waypoint_14
           Gripper Move 34%
           Waypoint_13
       If Count≟3
         MoveJ
           Waypoint_9
           Waypoint_10
           Waypoint_15
           Waypoint_16
           Gripper Move 34%
           Waypoint_15
       If Count≟4
         Halt
     MoveJ
       Home
Etienne_Samson

Hi Pros, 

Here is how we did it at Robotiq

https://www.youtube.com/watch?v=e25UMJfvwI4&feature=youtu.be

Here is the program we used: 

   Robot Program
     MoveJ
       Waypoint_1
       Gripper Open
       Count≔0
     Loop Count≤2
       Camera Locate
         MoveL
           Waypoint_2
           Waypoint_3
           Gripper Close
           Waypoint_4
           If rq_is_object_detected()== True 
             Pallet
               Pattern: Line
                 StartPos_1
                 EndPos_1
               PalletSequence
                 Approach_1
                 Waypoint_5
                 Gripper Open
                 Waypoint_8
                 Set Count=Count+1
       MoveJ
         Waypoint_1
         Gripper Open
     Halt

In attach is the file to get the program!