Robodk

This is my first project both in terms of simulation software and robotics.

The project is on developing a Robotic cell for Pick_Place and Welding applicaitons using 'RoboDk' robot simulation software.

Scene Setup

• Components:
  • 3 UR10 robots
  • U-shaped pins
  • A Camera
  • A Turntable

Sequence:

1. Pick and Place:
   • Robot1 picks the U pins and places them onto the Turntable.
   • The Turntable rotates 0.393 rad every time a new U pin is placed on it.
   • Once all the pins are placed, the Turntable rotates back to the home position.
2. Welding:
   • Robot2 starts welding each pin pair. For each welding movement, the Turntable rotates again by 0.393 rad.
   • The pins' overlap can be visualized through the camera mounted on Robot3.

Code Explaination:

1. Initialization:

   • Define Robot1, base frame, tool, pins, and the Turntable (TT).
   • Define Robot1 joints_home and speed.
   • Define targets for Pick, approach, and Place.

2. Pick and Place Operations:

   • Spawn the pins in the scene and place them at each Pick target coordinate, with respect to the 'Part_Ref' reference frame.
   • Make Robot1 pick the pins by changing the parent of the pins to 'tool'.
   • During the place action, change the pins' parent back to the 'TT' frame.
   • Rotate the TT for every place action.
   • Once all the pins are placed on the TT, Robot1 moves to the home position, and the TT rotates back to home as well.

3. Welding Operations:

   • Define the weld frame, Robot2, and welding tool.
   • Set the weld target and approach position similarly to Robot1.

   

4. Operation Execution:

   • Robot2 performs the welding operations and moves back to the home position.
   • Delete all pick targets, pins, pins reference frame, and targets after completion.

Before running the code, the scene should be setup inside the RoboDk software.

Simulation

The complete simulation can be seen here: https://youtu.be/dYk3MkHwQvU