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Logistics
• Four labs will be performed– Hello Cobot World (2 wks)– Repeatability and Straightness (2 wks)– Gripper Control (1 wks)– Flashlight Assembly (3 wks)
Deadlines
February 09, 2017 – Lab 1 ReportFebruary 23, 2017 – Lab 2 ReportMarch 02, 2017 – Lab 3 ReportMarch 23, 2017 – Scheduled Lab 4 Sessions EndMarch 26-30, 2017 – Lab 4 Demo with ProfessorApril 04, 2017 – Lab 4 Flashlight Report
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 robot’s 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/robotlab/resources.shtml
Task #1-3
• Move the robot through three poses– Cartesian space– Joint space
• Three programming methods will be explored– PolyScope– RoboDK– RoboDK Python API
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
• RoboDK Python API– Allows you to program in Python and simulate in RoboDK– Post processor converts Python code to a language that
the UR5 can understand (URScript)
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 (Polyscope, RoboDK, RoboDK API)
Task #5• Create a program to collide with a fixture that
will record the force.– Will be recording maximum force at various
speeds and creating a plot.
• Must use RoboDK Python API– Task #3 will be helpful
Deliverable• Single PDF document
– Memo-format, printed, 12 pt font– Turn in a hard copy– Due February 9th, 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, Python, Universal Robot Projects– Upload to Moodle
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 any 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.
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!
– You will have to come prepared to the labs
Office Hours
• Office Hours: TBD• Office hours get crowded before due dates• Bring your computer if you are able• Bring notes, previous attempts, etc.