With the use of the Robotiq's 2Finger-Gripper and new Wrist Camera I put together this demo for the 2016 amtXpo. The MiR100 (mobile industrial robot) positions itself in front of the UR10 and the wrist camera then locates the parts and puts them in the correct bin (similar to challenge 3 of the vision system training).

The video file is too big, so here is the link: 

https://www.youtube.com/watch?v=d6cvN6TCHKM

Thanks for sharing @Kaleb_Rodes ! Can you talk briefly of the integration? What is the master in the system? How do you synchronise things between MIR, UR and Robotiq devices?

The MiR, UR, and Robotiq products were all hard coded to our liking; therefore, no 'master' in the system. Once the MiR was in position I had a popup waiting on the teach pendant to start the program. (Note: if the UR was mounted to the top of the MiR the robot program could be started with ethernet socket communication). For the MiR's positional accuracy, in front of the robot, we made the position a 'docking' position and used a fiducial to increase the repeatable accuracy to +/- 7mm. Using the Robotiq wrist camera made our pick and place application that much easier once the MiR was in position!

Below is the UR program:

@Kaleb_Rodes really good job, I can see where you got the inspiration to do that !

Nice job @Kaleb_Rodes , that's a great demo.  I wonder, could the robot sit in a loop taking pictures until it recognized a marker on the MiR?  Then you could have the Camera_Locate set a variable that would allow the rest of your program run.  That way it would all happen automatically when the MiR pulled up.  Thoughts on that?

@Ryan_Weaver that's what I wanted to do, but the camera would locate the part before the MiR was in the final position; therefore, the pick position was off while the MiR was still moving into that final postion.