UR10 Robot waypoints reference with custom frame.

Pmkgur10 2019-10-15

Hi,

We have UR 10 Robot with CB3.8 version.

Our application is glue on glass.

After one batch of glass complete next batch glass position changing.

Is there any option programming like.

3 or 4 points frame creation

Based on that frame application waypoints teaching.

This will help lot of re teaching time.

PaulGWF 2019-10-16

Hi Pmkgur10!

Robotiq has developped a very useful software for this kind of application. It is called Finishing Copilot. In it you will find the "path_generator" which allows to program movement over a flat surface by placing only 4 points.
It works with your Robot, provided it's a CB3.1 (I take 3.8 is the version of the polyscope).

Here you will find more information about it (in the video you have a sanding machine but it could be your glue dispenser !) : https://robotiq.com/products/sanding-kit

Best regards,

Paul

Pmkgur10 2019-10-17

Hi Paul!

Thanks for you suggestions.

But my application have 60 waypoints In different locations.

Is there any solution to make easy reference from some points..

Best regards

Pmkgmani

PaulGWF 2019-10-17

Hi Pmkgmani,

I do not understand what you mean with 60 waypoints. Can you elaborate and | or send a picture of the part you want to glue as well as the path you want to follow?

In my previous message, path_generator 4 points (for flat surfaces) generates automatically y path that will cover the whole surface. You can adjust the width between the lines that the robot will move along.

Best regards.

Paul

matthewd92 2019-10-17

@Pmkgur10 you could always teach a feature on the installation tab under features and then teach the points relative to that feature. Then when you adjust the feature the points will move automatically. Depending on the type of feature you choose will depend on how accurately the points move in space relative to the feature moving. Planes are the best they are harder to adjust on the fly.

We have a script that allows us to use 3 points to teach a new plane and return a point that we can then use to reference points against. The challenge is UR changed the way planes are calculated back in 3.6 or 3.7 so our plane doesn’t match a feature plane any longer, x and y axes are flipped.

Another option, just a little more painful to implement initially is you store all the waypoints in the program but never actually go to them. You then use a calculated point as a reference point that is taught at the same time and calculate the difference between the points and the reference. Then you add that difference to a newly calculated reference when the part moves and you use those variable waypoints instead of the fixed waypoints.

Hope this gives you some ideas to solve the problem you’re having.

Pmkgur10 2019-10-22

matthewd92 said:

@Pmkgur10 you could always teach a feature on the installation tab under features and then teach the points relative to that feature. Then when you adjust the feature the points will move automatically. Depending on the type of feature you choose will depend on how accurately the points move in space relative to the feature moving. Planes are the best they are harder to adjust on the fly.

We have a script that allows us to use 3 points to teach a new plane and return a point that we can then use to reference points against. The challenge is UR changed the way planes are calculated back in 3.6 or 3.7 so our plane doesn’t match a feature plane any longer, x and y axes are flipped.

Another option, just a little more painful to implement initially is you store all the waypoints in the program but never actually go to them. You then use a calculated point as a reference point that is taught at the same time and calculate the difference between the points and the reference. Then you add that difference to a newly calculated reference when the part moves and you use those variable waypoints instead of the fixed waypoints.

Hope this gives you some ideas to solve the problem you’re having.

Thank you Mr.Mathew

It's working fine for my application.