Wrist Camera Pick and Place with MiR100

Kaleb_Rodes

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

Samuel_Bouchard

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?

Kaleb_Rodes

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:

Program

   BeforeStart

     Popup

   Robot Program

     MoveJ

       Gripper Open

       Home

     Camera Locate

       MoveL

         UR_Approach

         UR_Pick

         Gripper Close

         UR_Approach

       MoveJ

         Center_MiR

         Approach_UR_Bin

         Place_UR

         Gripper Open

     Camera Locate

       MoveL

         Robotiq_Approac

         Robotiq_Pick

         Gripper Close

         Robotiq_Approac

       MoveJ

         Center_MiR

         Approach_Robo_B

         Place_Robotiq

         Gripper Open

Etienne_Samson

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

Ryan_Weaver

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?

Kaleb_Rodes

@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.