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Etienne_Samson
Posts: 418Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
Pick & Package with Labels & Weights |
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Etienne_Samson
Posts: 418Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
For this challenge you need to pick & package parts with labels and weights.
Provided material :
Hint 2: The boxes can only be identified by their labels, you will need to proceed in two steps.
Good luck !
Provided material :
- 4 blue containers all identified (1 item each)
- 1 black puck of 6oz = 170g
- 1 blue puck of 4oz = 113g
- 1 Robotiq Box
- 1 UR Box
- 1 Robotiq Sticker
- 1 UR Sticker
Hint 1: The blue and black pucks can only be identified by weight. Maybe try using moments? 
Hint 2: The boxes can only be identified by their labels, you will need to proceed in two steps.
Good luck !
Etienne Samson
Technical Support Director
+1 418-380-2788 ext. 207
[email protected]
[email protected]
Here is the code and program in zip file
Program Init Variables BeforeStart socket_close("stream") socket_open("127.0.0.1",63351,"stream") Script: accessor_capt.script Fx≔0.0 Fy≔0.0 Fz≔0.0 Mx≔0.0 My≔0.0 Mz≔0.0 Fz_max≔15 Fz_tolerance≔2.5 x_increment≔0.002 z_increment≔0.0005 Robot Program rq_set_zero() Gripper Open MoveJ home Camera Locate MoveL Robo_Approach Robo_Pick Gripper Close Robo_Exit MoveJ Waypoint_1 Gripper Open home Camera Locate MoveL UR_Approach UR_Pick Gripper Close UR_Approach MoveJ Waypoint_2 Gripper Open home 'Call ' push_z_axis Loop norm(Fz)<Fz_max position_increm≔Tool position_increm[2] = position_increm[2]-z_increment movel(position_increm,1.2,0.01,0,0.0001) Thread_1 Script: sensor_thread.script_bakHere is the code
Program Init Variables BeforeStart Script: accessor_capt.script socket_close("stream") socket_open("127.0.0.1",63351,"stream") var_1≔get_actual_tcp_pose() MoveJ var_1 Robot Program Loop 'Write robot program here.' Call Task_3 Wait: 0.01 Thread_1 sensor_data≔socket_read_ascii_float(6,"stream") If sensor_data[0] ≥6 Fx≔sensor_data[1] Fy≔sensor_data[2] Fz≔sensor_data[3] Mx≔sensor_data[4] My≔sensor_data[5] Mz≔sensor_data[6] Else Fx≔0.0 Fy≔0.0 Fz≔0.0 Mx≔0.0 My≔0.0 Mz≔0.0 SubP_rq_set_zero rq_set_zero() SubP_rq_print_firmware_version rq_print_firmware_version() SubP_rq_print_prod_year rq_print_prod_year() SubP_rq_print_serial_number rq_print_serial_number() SubP_rq_print_version rq_get_version() Task_3 Gripper Open MoveJ Waypoint_1 Camera Locate MoveL Waypoint_2 Waypoint_3 Gripper Close Waypoint_2 MoveJ Waypoint_4 Waypoint_5 Gripper Open sync() MoveJ Waypoint_1 Camera Locate MoveL Waypoint_6 Waypoint_7 Gripper Close Waypoint_6 MoveJ Waypoint_8 Waypoint_9 Gripper Open sync() MoveJ Waypoint_1 Camera Locate MoveL Waypoint_11 Waypoint_10 Gripper Close Waypoint_11 MoveJ Waypoint_12 Wait: 2.0 If Mx<-.2 MoveJ Waypoint_13 Waypoint_14 Gripper Open Else MoveJ Waypoint_15 Waypoint_16 Gripper OpenRyan Weaver | Automation Engineer | Axis New England
[email protected]
https://www.youtube.com/user/AxisNewEngland
https://twitter.com/axis_newengland
[email protected]
Latest solution to auto-focus failure.
Here is the code
Program Init Variables BeforeStart Script: accessor_capt.script socket_close("stream") socket_open("127.0.0.1",63351,"stream") 'Gripper Open' Maxim≔0.5 Gripper Open rq_set_zero() Robot Program MoveJ Waypoint_6 Camera Locate MoveL Waypoint_2 Waypoint_3 Gripper Close MoveJ Waypoint_2 Waypoint_1 Wait: 1.0 var_1≔Mx var_2≔Mx var_3≔Mx If (var_2+var_1+var_3)<-.6 MoveJ Waypoint_4 Gripper Open Else MoveJ Waypoint_5 Gripper Open 'Folder Robotiq' Folder Ur MoveJ Waypoint_70 Camera Locate MoveL Waypoint_13 Waypoint_12 Gripper Close Waypoint_14 MoveJ Waypoint_11 Gripper Open Thread_1 sensor_data≔socket_read_ascii_float(6,"stream") If sensor_data[0] ≥6 Fx≔sensor_data[1] Fy≔sensor_data[2] Fz≔sensor_data[3] Mx≔sensor_data[4] My≔sensor_data[5] Mz≔sensor_data[6] Else Fx≔0.0 Fy≔0.0 Fz≔0.0 Mx≔0.0 My≔0.0 Mz≔0.0 sync() SubP_rq_set_zero rq_set_zero() SubP_rq_print_firmware_version rq_print_firmware_version() SubP_rq_print_prod_year rq_print_prod_year() SubP_rq_print_serial_number rq_print_serial_number() SubP_rq_print_version rq_get_version()Vicosystems S.L.L.
Industrial Collaborative Systems
[email protected]
[email protected]
Hey team 5, where is our video and code, you did good on this one!
Application Engineer
Robotiq
[email protected]
Here is the code
Program Init Variables BeforeStart Script: accessor_capt.script socket_close("stream") socket_open("127.0.0.1",63351,"stream") rq_activate_and_wait() Robot Program Call SubP_group5p3su Thread_1 sensor_data≔socket_read_ascii_float(6,"stream") If sensor_data[0] ≥6 Fx≔sensor_data[1] Fy≔sensor_data[2] Fz≔sensor_data[3] Mx≔sensor_data[4] My≔sensor_data[5] Mz≔sensor_data[6] Else Fx≔0.0 Fy≔0.0 Fz≔0.0 Mx≔0.0 My≔0.0 Mz≔0.0 SubP_group5p3su Gripper Open MoveJ snapshot_pos_1 Camera Locate MoveL prepick1 pick1 Gripper Close prepick1 MoveJ preplace1 place1 Gripper Open preplace1 MoveJ snapshot_pos_2 Camera Locate MoveL prepick2 pick2 Gripper Close prepick2 MoveJ preplace2 place2 Gripper Open preplace2 MoveJ snapshot_pos_3 Camera Locate MoveL app3 pick3 Gripper Close app3 MoveJ preplace measure Wait: 4.0 If Mx≥-.28 MoveL app_puck4 puck4 Gripper Open Else MoveL app_puck6 puck6 Gripper Open SubP_rq_set_zero rq_set_zero() SubP_rq_print_firmware_version rq_print_firmware_version() SubP_rq_print_prod_year rq_print_prod_year() SubP_rq_print_serial_number rq_print_serial_number() SubP_rq_print_version rq_get_version()Code:
Init Variables BeforeStart socket_close("stream") socket_open("127.0.0.1",63351,"stream") Script: accessor_capt.script rq_set_zero() Fx≔0.0 Fy≔0.0 Fz≔0.0 Mx≔0.0 My≔0.0 Mz≔0.0 Fmax≔30 Mmax≔0.5 Robot Program MoveJ home Gripper Open Path Gripper Close Path Wait: 30.0 If norm(Mx)<0.2 MoveJ Waypoint_1 Waypoint_2 Gripper Open Else MoveJ Waypoint_3 Waypoint_4 Gripper Open 'textmsg("Force after contact = ", Fz)' 'Wait: 1.0' 'textmsg("Force 1 sec later = ", Fz)' Thread_1 Script: sensor_thread.script push_z_axis Loop norm(Mx)<Mmax position_increm≔Tool position_increm[1] = position_increm[1]+.001 movel(position_increm,1.2,0.005,0,0.0001)Robotiq Integration Coach
[email protected]
1-418-380-2788, option 3
Here is the code:
Program Init Variables BeforeStart Script: accessor_capt.script socket_close("stream") socket_open("127.0.0.1",63351,"stream") Robot Program MoveJ Waypoint_1 Gripper Open var_1≔0 var_2≔0 var_3≔0 Loop If var_1≟0 Camera Locate MoveL Waypoint_2 Waypoint_3 Gripper Close Waypoint_4 If rq_is_object_detected()== True MoveJ Waypoint_5 Waypoint_6 Gripper Open Waypoint_7 var_1≔1 MoveJ Waypoint_1 Gripper Open If var_2≟0 Camera Locate MoveL Waypoint_8 Waypoint_9 Gripper Close Waypoint_10 If rq_is_object_detected()== True MoveJ Waypoint_12 Waypoint_11 Gripper Open Waypoint_13 var_2≔1 MoveJ Waypoint_1 Gripper Open If var_3<2 Camera Locate MoveL Waypoint_16 Waypoint_14 Gripper Close Waypoint_15 If rq_is_object_detected()== True MoveJ Waypoint_20 Wait: 5.0 If Mx≤-0.25 MoveJ Waypoint_18 Waypoint_17 Gripper Open Waypoint_19 var_3≔var_3+1 Else MoveJ Waypoint_22 Waypoint_21 Gripper Open Waypoint_23 var_3≔var_3+1 MoveJ Waypoint_1 Gripper Open If var_1≟1 and var_2≟1 and var_3≟2 Halt Wait: 0.01 Thread_1 sensor_data≔socket_read_ascii_float(6,"stream") If sensor_data[0] ≥6 Fx≔sensor_data[1] Fy≔sensor_data[2] Fz≔sensor_data[3] Mx≔sensor_data[4] My≔sensor_data[5] Mz≔sensor_data[6] Else Fx≔0.0 Fy≔0.0 Fz≔0.0 Mx≔0.0 My≔0.0 Mz≔0.0 SubP_rq_set_zero rq_set_zero() SubP_rq_print_firmware_version rq_print_firmware_version() SubP_rq_print_prod_year rq_print_prod_year() SubP_rq_print_serial_number rq_print_serial_number() SubP_rq_print_version rq_get_version()[email protected]