Software:
Universal Robots Polyscope
| Software/Package | Link |
|---|---|
| Universal Robots Polyscope | https://www.universal-robots.com/download/ |
Description:
A simple program to demonstrate circular motion. The user selects the initialization position (Waipoint_Home) and the radius (v_radius) in meters. Then just run the program.
The program was tested with Universal Robots UR10e robot (on the latest version of UR Polyscope).
Universal Robots UR10e - Simulation:
URScript Code:
Program
BeforeStart
MoveJ
Waypoint_Home
v_radius≔0.050
v_point_1≔p[Waypoint_Home[0] + v_radius,Waypoint_Home[1],Waypoint_Home[2],Waypoint_Home[3],Waypoint_Home[4],Waypoint_Home[5]]
v_point_2≔p[Waypoint_Home[0],Waypoint_Home[1] + v_radius,Waypoint_Home[2],Waypoint_Home[3],Waypoint_Home[4],Waypoint_Home[5]]
v_point_3≔p[Waypoint_Home[0] - v_radius,Waypoint_Home[1],Waypoint_Home[2],Waypoint_Home[3],Waypoint_Home[4],Waypoint_Home[5]]
v_point_4≔p[Waypoint_Home[0],Waypoint_Home[1] - v_radius,Waypoint_Home[2],Waypoint_Home[3],Waypoint_Home[4],Waypoint_Home[5]]
Robot Program
MoveP
v_point_1
CircleMove
v_point_2
v_point_3
CircleMove
v_point_4
v_point_1Description:
A simple program to demonstrate a modular pick and place application. The user selects the initialization position (Waypoint_Home), number of objects (v_count_of_obj), mode (v_inv_mode), etc. The application mode can be inverse or non-inverse. Inverse mode means that the robot moves cyclically and transfers objects from side to side. The non-inverse mode just transfers the objects to the final position.
This application can be used as a demonstration for beginners, kids, etc. to show how easy it is to program a collaborative robot.
The program was tested with Universal Robots UR10e robot and Robotiq gripper (on the latest version of UR Polyscope).
Universal Robots UR10e:
Universal Robots UR10e - Simulation:
URScript Code:
Program
BeforeStart
v_count_of_obj≔3
v_obj_height≔0.030
v_actual_state≔1
v_inv_mode≔ False
v_counter≔0
v_pick_offset≔p[0.0,0.0,0.0,0.0,0.0,0.0]
v_place_offset≔p[0.0,0.0,0.0,0.0,0.0,0.0]
v_pick_z≔0.2
v_place_z≔0.2
Point_Place[2]=0.415+v_place_z
Point_Pick[2]=0.415+v_pick_z
v_rpy_vec_pick≔rotvec2rpy([Point_Pick[3],Point_Pick[4],Point_Pick[5]])
v_rot_vec_pick≔rpy2rotvec([3.142,0.0,v_rpy_vec_pick[2]])
Point_Pick[3]=v_rot_vec_pick[0]
Point_Pick[4]=v_rot_vec_pick[1]
Point_Pick[5]=v_rot_vec_pick[2]
v_rpy_vec_place≔rotvec2rpy([Point_Place[3],Point_Place[4],Point_Place[5]])
v_rot_vec_place≔rpy2rotvec([3.142,0.0,v_rpy_vec_place[2]])
Point_Place[3]=v_rot_vec_place[0]
Point_Place[4]=v_rot_vec_place[1]
Point_Place[5]=v_rot_vec_place[2]
Gripper Reset and Activate
Gripper Open (1)
MoveJ
Waypoint_Home
Robot Program
Switch v_actual_state
Case 1
If v_inv_mode== True
v_actual_state≔3
Else
v_actual_state≔2
Case 2
If v_counter<v_count_of_obj
MoveL
Point_Pick
v_pick_offset≔pose_trans(Point_Pick, p[0.0,0.0,v_pick_z-((v_count_of_obj-(v_counter+1))*v_obj_height),0.0,0.0,0.0])
v_pick_offset
Gripper Close (1)
Point_Pick
Point_Place
v_place_offset≔pose_trans(Point_Place, p[0.0,0.0,v_place_z-(v_counter*v_obj_height),0.0,0.0,0.0])
v_place_offset
Gripper Open (1)
Point_Place
v_counter=v_counter+1
Else
MoveJ
Waypoint_Home
Halt
Case 3
If v_counter<v_count_of_obj
MoveL
Point_Pick
v_pick_offset≔pose_trans(Point_Pick, p[0.0,0.0,v_pick_z-((v_count_of_obj-(v_counter+1))*v_obj_height),0.0,0.0,0.0])
v_pick_offset
Gripper Close (1)
Point_Pick
Point_Place
v_place_offset≔pose_trans(Point_Place, p[0.0,0.0,v_place_z-(v_counter*v_obj_height),0.0,0.0,0.0])
v_place_offset
Gripper Open (1)
Point_Place
v_counter=v_counter+1
Else
v_actual_state≔4
Case 4
If v_counter>0
MoveL
Point_Place
v_pick_offset≔pose_trans(Point_Place, p[0.0,0.0,v_place_z-((v_counter-1)*v_obj_height),0.0,0.0,0.0])
v_pick_offset
Gripper Close (1)
Point_Place
Point_Pick
v_place_offset≔pose_trans(Point_Pick, p[0.0,0.0,v_pick_z-((v_count_of_obj-v_counter)*v_obj_height),0.0,0.0,0.0])
v_place_offset
Gripper Open (1)
Point_Pick
v_counter=v_counter-1
Else
v_actual_state≔3