SLIDE 1
Table of Contents
- Lab Overview
- UR5 Robot
- Lab 1 Description
- Logistic Considerations
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 - - 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)
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SLIDE 3
Lab Overview
SLIDE 4
Logistics
- Four labs will be performed
– Hello World (1 wk) – Repeatability and Straightness (2 wks) – Gripper Control (2 wks) – Flashlight Assembly (3 wks)
SLIDE 5
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
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Safety
- Two people must be present in the lab when
- perating the UR5 robot.
- Failure to follow this rule will result in a zero
- n 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.
SLIDE 7
Robot Resources
- http://me.umn.edu/courses/me5286/robotla
b/resources.shtml
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UR5 Robot
SLIDE 9
UR5
- 6 DOF
- Collaborative Robot
- 5 Kg payload
- 850 mm reach
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Lab 1 Description
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Task #1-3
- Move the robot through three poses
– Cartesian space – Joint space
- Three programming methods will be explored
– PolyScope – RoboDK – URScript
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Language Options
- PolyScope
– Visual programming – Comes preloaded on the teaching pendant – Offline simulator available for multiple platforms
- RoboDK
– 3rd party robot simulator – Allows you to bring CAD files into the simulation – License instructions can be found on Moodle
- URScript
– Similar to python
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PolyScope
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RoboDK
SLIDE 15
RoboDK
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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
SLIDE 17
Deliverable
- Single PDF document
– Memo-format, printed, 12 pt font – Turn in a hard copy – Due February 3rd, 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
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Sample Memo Format
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Late Assignments
- Assignments will not be accepted after their
due date. (Exceptions may be made for illness
- r 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%
- f the total possible grade for that
assignment.
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Logistic Considerations
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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/
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Time Management
- 5 to 15 hours per week
- Plan Ahead! No Excuses!
SLIDE 23
Office Hours
- Office hours get crowded before due dates
- Bring your computer if you are able
- Bring notes, previous attempts, etc.
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