Universal Robots ActiNav Manual de usuario

ActiNavAutonomous

BinPicking

Operating Guide

Original instructions (en)

Contents

1.Introduction 1

1.1. About this document 1

2.Bin Picking Process 2

2.1. 3D sensor alignment 2

2.2. Tool 2

2.3. Environment 2

2.4. Clearance Shapes 2

2.5. Bin 2

3.Procedures 3

3.1. 3D sensor alignment 3

3.1.1. Starting alignment and attaching the alignment marker 3

3.1.2. Recording samples 4

3.2. Tool 5

3.2.1. Adding a Tool 6

3.2.2. Setting TCP and Tool Properties 6

3.2.3. Creating Clearance Shapes for the Tool 7

3.3. Environment 8

3.4. Clearance Shapes 9

3.4.1. Creating a Clearance Shape 9

3.4.2. Creating a Clearance Shape by Teaching 10

3.5. Bin 12

3.5.1. Creating a new Bin 12

3.5.2. Creating a Bin by Teaching 13

3.6. Part 16

3.6.1. Adding a Part 16

3.6.2. Setting Part Properties 17

3.6.3. Creating a Clearance Shape for the Part 17

3.6.4. Validating a Part 18

4.Simple application examples 20

4.1. Basic Pick and Place Program 20

4.1.1. Adding a Pick and Place Loop 20

4.1.2. Pick and Place Rules 21

4.2. ActiNav Home Position 28

Operating Guide ActiNavAutonomous BinPicking

4.2.1. Configuring ActiNav Home Position 28

4.3. Find Next Part 29

4.3.1. Configuring Do Pick 29

4.3.2. Configuring Do Place 31

5.Program Structure Validation 34

5.1. Validating a program 34

ActiNavAutonomous BinPicking Operating Guide

1.Introduction

1.1. About this document

This guide contains information on how to set up, configure, and use the ActiNavBinPicking

application.

Operating Guide 1 ActiNavAutonomous BinPicking

1.Introduction

2.Bin Picking Process

This section describes the key steps in the ActiNav setup.

2.1. 3D sensor alignment

The ActiNav system includes a 3D sensor that scans the parts and a robot arm that manipulates the

parts. 3D sensor alignment is necessary to let the system know where exactly the robot arm is mounted

in relation to the 3D sensor.

You do the alignment by moving the robot arm with the alignment marker attached and recording the

marker position samples. For more information, see section 3.1. 3D sensor alignmenton page3.

2.2. Tool

In ActiNav an end effector is referred to as the Tool.

A CAD model of the tool is used for display purposes, and to provide a template for creating Clearance

Shapes. For more information, see section 1.Configuring a Toolon page1.

2.3. Environment

The Environment is a virtual representation of the workspace. Objects in the workspace are

represented by Clearance Shapes.

When a program is running, the robot, tool and part do not touch any Clearance Shapes.

In ActiNav, you can create and configure multiple different environments.

2.4. Clearance Shapes

Clearance Shapes are created in the Environment to represent objects in the real world or, to serve as

virtual barriers. They let ActiNav move the robot arm, the tool, and the parts without collisions.

You can create Clearance Shapes by teaching key points with the TCP, or by entering shape

characteristics in the Shape Properties and Shape Coordinates sections.

2.5. Bin

The Bin is the object in the Environment that represents the bin in the workspace.

You define the Bin by teaching the walls and the floor of the Bin, and then specifying its properties and

the scan zone settings. For information on creating the Bin, see section 3.5. Binon page12.

PolyScope shows the Bin as a set of Clearance Shapes, but you cannot edit those Shapes in the

Environment screen. You can edit them by changing the properties of the Bin.

ActiNavAutonomous BinPicking 2 Operating Guide

2.Bin Picking Process

3.Procedures

This section describes how to perform various procedures related to the configuration of the

ActiNavBinPicking applicationsetup.

3.1. 3D sensor alignment

3D sensor alignment is necessary to let the system know where exactly the robot arm is mounted in

relation to the 3D sensor.

3.1.1. Starting alignment and attaching the alignment marker

NOTICE

Bin placement may limit the range of movement for the alignment marker, and

compromise the alignment accuracy.

• Remove the bin before you start recording samples for the 3D sensor alignment.

1. In PolyScope, select Installation > URCaps > ActiNav Bin Picking > 3D Sensor.

2. On the 3D Sensor screen, select Start Sensor Alignment Wizard.

3. Attach the alignment marker to the tool flange. Tap Confirm, and then tap Next. PolyScope

Operating Guide 3 ActiNavAutonomous BinPicking

3.Procedures

shows the Collect Samples screen, to record your scan samples.

3.1.2. Recording samples

This procedure has the following success criteria:

• Record at least 8 scan samples.

• The average error value is less than 1mm. It might be necessary to record more than 8 samples

to achieve such value.

Positioning the alignment marker has the following success criteria:

• Ensure the marker is always facing the 3DSensor.

• Ensure each new alignment marker position is different from the previous move.

• Move the marker within the scan volume covered by the sensor.

• Move the marker within the volume occupied by the bin.

To record the scan samples:

1. Tap Reset Samples to ensure that the previously recorded samples do not affect the alignment

results.

2. Tap Move. Use the Freedrive mode, or the Move arrows, to move the alignment marker to a new

position within the 3D sensor scanning volume.

3. Ensure that the line of sight between the alignment marker and the 3D sensor is not blocked by

any objects.

4. Tap Add Sample. The 3D sensor performs a scanning sequence and searches for the alignment

marker.

If the scan is successful, the Status pane updates the Samples Collected and Average Error

ActiNavAutonomous BinPicking 4 Operating Guide

3.Procedures

fields.

If the scan is unsuccessful (the 3D sensor could not detect the alignment marker), PolyScope

shows an error prompting you to move the marker again and repeat the scan.

5. Repeat steps 2–3 until you record at least 8 unique position samples and the average error value

is less than 1mm.

6. After recording 8 samples, the Alignment Status indicator turns green. Tap Next.

7. Remove the alignment marker from the tool flange and tap Done.

The 3D sensor alignment is completed.

3.2. Tool

ActiNav works with the tool you decide is best suited to your application.

You need the CAD model of the tool to add a Tool object in ActiNav.

Tool CAD model requirements:

• Supported formats: STEP, OBJ.

• The origin and alignment of the XYZ axes of the tool flange and the tool must coincide when the

tool is attached to the flange.

NOTICE

Creating CAD models with excessive texture, or any invisible internal details, can slow

down the live display in the ActiNav Viewer, or can fail to import.

• Ensure the CAD model is as compact and simple as possible.

Operating Guide 5 ActiNavAutonomous BinPicking

3.Procedures

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