Theme

  1. Waypoints.
  2. Motion – MoveJ og MoveL.
  3. End-effector – using the gripper.
  4. Pick and place.

Equipment

  1. UR5e-series robot with PolyScope.
  2. Robotiq 2-Finger Adaptive Robot Gripper / Hand-E Gripper
  3. Lab station with two boxes, two cups and a gripable object.

Before the lab

1.Very important: Complete the Universal Robots Academy

2.Get in touch with the lab engineer Raquel (raquel.motzfeldt.tirach@hvl.no) for a good follow up.

3.Try to get together in a group of 2-4 people.

4.Travel to Campus Verftet!

5.Read and sign the lab rules.

6.Have fun! If you are stuck don’t hesitate to ask for help 🌈

Report

There is no need to hand in a report after this lab. Signed attendance will suffice as approved lab exercise.

Tasks

1. Repeat Universal Robots Academy Task 4. Creating a program, but this time on a real robot:

  • Make a triangle using MoveJ, then using MoveL, and finally using MoveP.
  • Pick up a box with the robot, then place it somewhere else.

2. Repeat Universal Robots Academy Task 10. You may find it in the PROTrack section of the Universal Robots Academy - not in the Core section. The task is named feature coordinates. This time you will compute the task on a real robot and you decide the real/imaginary box.

Race pace

Finally! A challenge. 🤖🔧

A series of requirements are listed below, make a program to fulfill them all!

Make the movements as fast and as smooth as possible! Without endangering the robot or the humans!

  1. Build the course in the picture below.
  2. Place the object in box C.
  3. Make the start position for the robot straight up, pointing to the sky.
  4. Pick up the object
  5. Move between the two cups B, not over!
  6. Place object in box A

image-center

Questions

  1. What is this thing UR calls "Feature"?
    1. Which ones did you use?
    2. Where were their respective origins?
    3. What is their use?
  2. What is MoveJ, MoveL and MoveP? Describe the difference, and when to use what.
  3. What was your fastest race time?