Wildcard Week - Robotic Assembly

This week, with the help of Amira's tutorial session and debugging support, I operated the UR10 robotic arm in my life first time. This page documents a method to program UR10 using Grasshopper scripting, a graphical algorithm editor in Rhino, to draw texts(or curve) on paper.

UR10 Learning Resorces

UR Acamedy has online tutorials for beginners, which is crucially helpful to understand UR10 basics, programming, interface, and work flow. It roughly took an hour or two to go through the core tutorial. After that, I was able to operate and program the machine using a control pad. To operate grippers, I used the gripper template file programmed in the controller.

Locate UR10 tool point using control pad.


Program a loop to lift up, turn, and drop a object.

UR10 programming: Grasshopper

Rhino and Grasshopper enviroment help users to create 3D geometry easily. There are several free Grasshopper plug-ins that help users to convert geometric data to machine operating script langagues. In this project, Grasshopper plug-in Robots is used for converting Geometry data to .urp file for operating UR10. Installation and plug-in setup process was well documented in Robots's git repository and the process was streat foward. The plug-in also worked well in latest Rhino6 enviornment.

Simple Example

To understand the process to operate machine with Robots, I reviewed grasshopper file in Robots package. simple example converts input curve data to .urp file in selected directory. There are two ways to operate this file. First save the .urp file in USB drive and run it using UR10 control pad. Second It is possible to feed this data directly in UR10 using LAN cable connection.

However, initial set up of UR10 in the file was for other lab condition, and before that I need to change some setting of the file to virtually simulate UR10 in CBA Lab condition; end effector and robot joint angles setting.

Model Setup - Gripper and Bed

files:
Gripper 3D Full CAD Model
Gripper 3D Fingers CAD Model
UR10_CBA_Bed

20MB step file / CBA Bed Size : 36''x 48''

CBA UR10 Enviornment Set UP

Set Up 3D Model Robot Joints Same As CBA Lab Condition