ME 5286 Robotics Labs Hello World TA: Mark Gilbertson 2017 Table - PowerPoint PPT Presentation

ME 5286 Robotics Labs Hello World TA: Mark Gilbertson 2017

Table of Contents • Lab Overview • UR5 Robot • Lab 1 Description • Logistic Considerations

Lab Overview

Logistics • Four labs will be performed – Hello World (1 wk) – Repeatability and Straightness (2 wks) – Gripper Control (2 wks) – Flashlight Assembly (3 wks)

Deadlines February 03, 2017 – Lab 1 Report February 15, 2017 – Lab 2 Report March 01, 2017 – Lab 3 Report March 29, 2017 – Lab 4 Project Freeze March 31, 2017 – Lab 4 Flashlight Report April 4-5, 2017 – Lab 4 Demo with Professor

Safety • Two people must be present in the lab when operating the UR5 robot. • Failure to follow this rule will result in a zero on the lab. • Use common sense and don’t stand in the robots path while its operating. • While operating the robot someone must be holding the Teaching Pendant with a hand ready to hit the E-stop.

Robot Resources • http://me.umn.edu/courses/me5286/robotla b/resources.shtml

UR5 Robot

UR5 • 6 DOF • Collaborative Robot • 5 Kg payload • 850 mm reach

Lab 1 Description

Task #1-3 • Move the robot through three poses – Cartesian space – Joint space • Three programming methods will be explored – PolyScope – RoboDK – URScript

Language Options • PolyScope – Visual programming – Comes preloaded on the teaching pendant – Offline simulator available for multiple platforms • RoboDK – 3 rd party robot simulator – Allows you to bring CAD files into the simulation – License instructions can be found on Moodle • URScript – Similar to python

PolyScope

RoboDK

RoboDK

Task #4 • Creating a program to trace a virtual cube – One cube which maximizes cube in y-direction – One cube which maximizes cube in z-direction • You are free to program with your method of choice

Deliverable • Single PDF document – Memo-format, printed, 12 pt font – Turn in a hard copy – Due February 3 rd , at the beginning of class – Answer all questions in the lab manual • A single zip file containing all robot files – Zip file named [last_name]_[first name]_helloworld.zip – All RoboDK, URscript, Universal Robot Projects – Upload to Moodle

Sample Memo Format

Late Assignments • Assignments will not be accepted after their due date. (Exceptions may be made for illness or other unavoidable circumstances). • If an assignment is late for a reason other than a formally acceptable excuse (such as a doctor's note), a soft copy will be accepted via email up to 24 hours late. • However, the grade will then be at most 50% of the total possible grade for that assignment.

Logistic Considerations

Website • Most current source of documentation • Please notify TA(s) about – Unclear sections – Missing sections • Look at the course website if you haven’t already – me.umn.edu/courses/me5286/

Time Management • 5 to 15 hours per week • Plan Ahead! No Excuses!

Office Hours • Office hours get crowded before due dates • Bring your computer if you are able • Bring notes, previous attempts, etc.

Questions ?