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Etienne_Samson
Posts: 418Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
Place parts in tray with camera and gripper |
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Etienne_Samson
Posts: 418Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
Hi Pros,
The challenge is to perform a pick and place with a tray using our camera and gripper.
Provided material :
To add to the challenge, try to handle both the part being flat and the part being upside.
The challenge is to perform a pick and place with a tray using our camera and gripper.
Provided material :
- 3 Parts
- Foam 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.
Etienne Samson
Technical Support Director
+1 418-380-2788 ext. 207
[email protected]
[email protected]
Tagged:
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_1Ryan Weaver | Automation Engineer | Axis New England
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https://www.youtube.com/user/AxisNewEngland
https://twitter.com/axis_newengland
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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.
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≔0with bad robot
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_8Here is the video from our team.
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()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 HomeRobotiq Integration Coach
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1-418-380-2788, option 3
Here is how we did it at Robotiq
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 HaltIn attach is the file to get the program!
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