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Kaleb_RodesKaleb_Rodes Posts: 54Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Tactile Sensor Beta Testers, Beta Tester Camera URCap 1.2.0-beta Handy
edited August 2016 in Applications
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: 


Kaleb Rodes
Applications Engineer
Behco

Comments

  • Samuel_BouchardSamuel_Bouchard Posts: 149 Handy
    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_RodesKaleb_Rodes Posts: 54Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Tactile Sensor Beta Testers, Beta Tester Camera URCap 1.2.0-beta Handy
    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
    Kaleb Rodes
    Applications Engineer
    Behco
  • Etienne_SamsonEtienne_Samson Posts: 418Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    @Kaleb_Rodes really good job, I can see where you got the inspiration to do that !
    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
  • Ryan_WeaverRyan_Weaver Posts: 45Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Wrist Camera URCap 1.3.0 Handy
    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   |   Automation Engineer   |   Axis New England
    [email protected]
    https://www.youtube.com/user/AxisNewEngland
    https://twitter.com/axis_newengland

  • Kaleb_RodesKaleb_Rodes Posts: 54Founding Pro, Partner, Beta Tester VIsion 1.1 Program, Tactile Sensor Beta Testers, Beta Tester Camera URCap 1.2.0-beta Handy
    @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.
    Kaleb Rodes
    Applications Engineer
    Behco
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