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Etienne_SamsonEtienne_Samson Posts: 416Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
edited August 2016 in Robotiq Products
Hi Pros,

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

Provided material :
  • 3 Parts
  • Foam packaging
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. 

Etienne Samson
Technical Support Director
+1 418-380-2788 ext. 207
[email protected]

Comments

  • Samuel_BouchardSamuel_Bouchard Posts: 149 Handy
    edited August 2016
    Congrats Team 3 @Ryan_Weaver@PaulKeeling@bsawlor! Any special tricks used and learned?
  • Cody_JamesCody_James Posts: 5Partner, Beta Tester Beetle, Wrist Camera URCap 1.3.0
    edited August 2016
    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.



    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
    


  • Adam529dpAdam529dp Posts: 2Partner
    edited August 2016
    Team 4 Challenge 1 complete
     with 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_8

  • Johnson_LiuJohnson_Liu Posts: 11Founding Pro Handy
    edited August 2016
    Team 5
    Here 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()
    


  • Tyler_BerrymanTyler_Berryman Posts: 122Beta Tester Beetle, Wrist Camera URCap 1.3.0 Handy
    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

    Tyler Berryman
    Robotiq Integration Coach
    [email protected]
    1-418-380-2788, option 3
  • Etienne_SamsonEtienne_Samson Posts: 416Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    Hi Pros, 

    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
         Halt

    In attach is the file to get the program!
    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
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