Difference between revisions of "Bin Picking Tutorial: Introduction to Robot Interfaces"
| Line 1: | Line 1: | ||
| − | The main goal of this tutorial is to provide general introduction | + | The main goal of this tutorial is to provide general introduction to the robot interfaces between Photoneo Bin Picking Solution and various industrial manipulators. |
| − | '''It is highly recommended to read this tutorial before proceeding to | + | '''It is highly recommended to read this tutorial before proceeding to specific robot interface installation !!! ''' |
== General principles: == | == General principles: == | ||
| − | Photoneo Bin Picking System is compatible with industrial manipulators of various | + | Photoneo Bin Picking System is compatible with industrial manipulators of various robotic vendors. Each implementation and installation procedure is different, however five high-level principles are common for all of them: |
=== 1. State server + Bin Picking Client === | === 1. State server + Bin Picking Client === | ||
| − | Robot Interface | + | Robot Interface for Photoneo BP Solution always consists of two tasks - '''State Server''' + '''Bin Picking Client'''. Both processes need to run in parallel on the target robot controller. State Server, reporting current joint and tool pose coordinates, usually runs in background, while BP Client responsible for the Request/Response transfers between Vision and robot controller is directly controlled by robot Programmer/Operator using Photoneo Robotic API. Detailed instructions how to configure specific robotic system and install necessary files are described in ''"Setting up guides"'' linked at the bottom of this tutorial. |
| − | === 2. TCP/IP | + | === 2. TCP/IP Communication Only === |
| − | TCP/IP is utilized for communication between Photoneo Vision Controller and | + | TCP/IP is utilized for communication between Photoneo Vision Controller and specific robot controller. It is usually possible to configure additional industrial fieldbus for basic robot control (ON/OFF, robot program selection, safety purposes etc.), however replacing TCP/IP communication between by any other industrial fieldbus is currently not supported. |
=== 3. Full Operator Control === | === 3. Full Operator Control === | ||
| − | Photoneo BP Client does not take over the control of the robot. | + | Photoneo BP Client does not take over the control of the robot. Photoneo BP Solution feeds robot controller by trajectory waypoints and appropriate gripper commands but it is always the robot Programmer/Operator who decides when to perform bin picking actions by calling particular jobs/routines/programs provided by robot interface API. Motion speed and implementation of gripper commands is also responsibility of robot Programmer/Operator. In order to provide adequate feedback, Photoneo BP Client always enables robot Programmer/Operator to track the current robot program execution directly on the pendant. Motion is never performed in background tasks and out of the Programmer/Operator reach. |
=== 4. Easy to Integrate === | === 4. Easy to Integrate === | ||
| − | Robot Interfaces for Photoneo | + | Robot Interfaces for Photoneo BP solution were developed to be easily integrated into existing robotic applications written in standard robotic languages. From robot programming point of view, Photoneo BP Robot Interface is just a set of jobs/routines/programs that are available for the robot Programmer/Operator to be called when bin picking operation is about to be executed. For example when a next object needs to be picked, operator calls a job/routine/program named ''requestTrajectory()'' or similar. Robot interface transmits this request to the Vision Controller, Vision Controller performs requested action (triggers scan & compute motion plan) and the result (set of trajectories and gripper commands) is transmitted back to the robot controller. Robot Programmer/Operator is notified by predefined register or flag that new motion data are available and it is up to him when he decides to perform the bin picking movement. This is realized by calling another job/routine/program usually named ''executeTrajectory()'' or similar. See specific robot vendor tutorial for further information about provided robotic API. |
=== 5. Trajectory validation === | === 5. Trajectory validation === | ||
| − | Bin | + | Bin Picking procedure is mostly composed of four sub-trajectories (approach, grasp, deapproach and end) and two or three gripper commands. Each sub-trajectory consists of several waypoints (usually 10-100) defined in joint position representation, which robot is trying to reach during the movement. Photoneo BP Client leverage downloading approach (in contrast to streaming one) meaning that each trajectory is downloaded from the Vision Controller and verified by the robot controller before execution. No motion is executed until robot controller checks whether each received waypoint matches the waypoint originally send by the Vision Controller. |
== Supported Robotic Systems & Prerequisites: == | == Supported Robotic Systems & Prerequisites: == | ||
| − | Following list summarizes currently supported | + | Robot interfaces for Photoneo BP system were developed using the latest available hardware from various robotic vendors. Following list summarizes currently supported systems and specific software options required for multitasking and user socket messaging functionality: |
1. '''ABB''' - RobotWare OS > 5.13 + PC-Interface (616-6) + Multitasking Module (672-1) options | 1. '''ABB''' - RobotWare OS > 5.13 + PC-Interface (616-6) + Multitasking Module (672-1) options | ||
| − | 2. '''KUKA''' - KUKA System Software 8.2 + EthernetKRL option | + | 2. '''KUKA''' - KUKA System Software 8.2 and higher (KRC4) + EthernetKRL option |
3. '''FANUC''' - System version 8.10 or higher + R632 - KAREL + R648 - User Socket Messaging options | 3. '''FANUC''' - System version 8.10 or higher + R632 - KAREL + R648 - User Socket Messaging options | ||
| Line 39: | Line 39: | ||
4. '''STAUBLI''' - Staubli CS8 controller and higher + VAL3 version s7.7.2 or higher | 4. '''STAUBLI''' - Staubli CS8 controller and higher + VAL3 version s7.7.2 or higher | ||
| − | 5. '''YASKAWA''' - YRC1000 Controller v.1.34 and higher (DX100, DX200, FS100 controllers are currently not supported) | + | 5. '''YASKAWA''' - YRC1000 Controller v.1.34 and higher + MotoPlus Runtime option (DX100, DX200, FS100 controllers are currently not supported) |
6. '''MITSUBISHI''' - CR750-D Controllers + Software version - H7 and higher | 6. '''MITSUBISHI''' - CR750-D Controllers + Software version - H7 and higher | ||
Revision as of 21:44, 20 December 2017
The main goal of this tutorial is to provide general introduction to the robot interfaces between Photoneo Bin Picking Solution and various industrial manipulators.
It is highly recommended to read this tutorial before proceeding to specific robot interface installation !!!
Contents
General principles:
Photoneo Bin Picking System is compatible with industrial manipulators of various robotic vendors. Each implementation and installation procedure is different, however five high-level principles are common for all of them:
1. State server + Bin Picking Client
Robot Interface for Photoneo BP Solution always consists of two tasks - State Server + Bin Picking Client. Both processes need to run in parallel on the target robot controller. State Server, reporting current joint and tool pose coordinates, usually runs in background, while BP Client responsible for the Request/Response transfers between Vision and robot controller is directly controlled by robot Programmer/Operator using Photoneo Robotic API. Detailed instructions how to configure specific robotic system and install necessary files are described in "Setting up guides" linked at the bottom of this tutorial.
2. TCP/IP Communication Only
TCP/IP is utilized for communication between Photoneo Vision Controller and specific robot controller. It is usually possible to configure additional industrial fieldbus for basic robot control (ON/OFF, robot program selection, safety purposes etc.), however replacing TCP/IP communication between by any other industrial fieldbus is currently not supported.
3. Full Operator Control
Photoneo BP Client does not take over the control of the robot. Photoneo BP Solution feeds robot controller by trajectory waypoints and appropriate gripper commands but it is always the robot Programmer/Operator who decides when to perform bin picking actions by calling particular jobs/routines/programs provided by robot interface API. Motion speed and implementation of gripper commands is also responsibility of robot Programmer/Operator. In order to provide adequate feedback, Photoneo BP Client always enables robot Programmer/Operator to track the current robot program execution directly on the pendant. Motion is never performed in background tasks and out of the Programmer/Operator reach.
4. Easy to Integrate
Robot Interfaces for Photoneo BP solution were developed to be easily integrated into existing robotic applications written in standard robotic languages. From robot programming point of view, Photoneo BP Robot Interface is just a set of jobs/routines/programs that are available for the robot Programmer/Operator to be called when bin picking operation is about to be executed. For example when a next object needs to be picked, operator calls a job/routine/program named requestTrajectory() or similar. Robot interface transmits this request to the Vision Controller, Vision Controller performs requested action (triggers scan & compute motion plan) and the result (set of trajectories and gripper commands) is transmitted back to the robot controller. Robot Programmer/Operator is notified by predefined register or flag that new motion data are available and it is up to him when he decides to perform the bin picking movement. This is realized by calling another job/routine/program usually named executeTrajectory() or similar. See specific robot vendor tutorial for further information about provided robotic API.
5. Trajectory validation
Bin Picking procedure is mostly composed of four sub-trajectories (approach, grasp, deapproach and end) and two or three gripper commands. Each sub-trajectory consists of several waypoints (usually 10-100) defined in joint position representation, which robot is trying to reach during the movement. Photoneo BP Client leverage downloading approach (in contrast to streaming one) meaning that each trajectory is downloaded from the Vision Controller and verified by the robot controller before execution. No motion is executed until robot controller checks whether each received waypoint matches the waypoint originally send by the Vision Controller.
Supported Robotic Systems & Prerequisites:
Robot interfaces for Photoneo BP system were developed using the latest available hardware from various robotic vendors. Following list summarizes currently supported systems and specific software options required for multitasking and user socket messaging functionality:
1. ABB - RobotWare OS > 5.13 + PC-Interface (616-6) + Multitasking Module (672-1) options
2. KUKA - KUKA System Software 8.2 and higher (KRC4) + EthernetKRL option
3. FANUC - System version 8.10 or higher + R632 - KAREL + R648 - User Socket Messaging options
4. STAUBLI - Staubli CS8 controller and higher + VAL3 version s7.7.2 or higher
5. YASKAWA - YRC1000 Controller v.1.34 and higher + MotoPlus Runtime option (DX100, DX200, FS100 controllers are currently not supported)
6. MITSUBISHI - CR750-D Controllers + Software version - H7 and higher
7. OMRON/ADEPT - Both s650 + s850 Adept Viper manipulators
8. UNIVERSAL ROBOT - System Version 1.8 and higher
Where to go next
1. Setting up Photoneo Bin Picking Solution with ABB robots
2. Setting up Photoneo Bin Picking Solution with KUKA robots
3. Setting up Photoneo Bin Picking Solution with FANUC robots
4. Setting up Photoneo Bin Picking Solution with STAUBLI robots
5. Setting up Photoneo Bin Picking Solution with YASKAWA robots
6. Setting up Photoneo Bin Picking Solution with MISTUBISHI robots
7. Setting up Photoneo Bin Picking Solution with OMRON/ADEPT robots
8. Setting up Photoneo Bin Picking Solution with UR robots
