15. Wildcard Week

For this free week, I decided to take one of the courses offered by the instructors to learn how to use a robotic arm. This allows me to improve in the field of my career related to automation and future classes I take. Additionally, it is something that interests me a lot, and I have wanted to control one since I was a child.For the practice, I will use the programming tools provided by the robot, such as its remote control. Additionally, I will use the RoboDK program to move it.

Industrial robots

Industrial robots, such as those from KUKA and Universal Robots (UR), have revolutionized modern industry due to their precision, flexibility, and ability to work in hazardous environments.

Main Applications:

• Production Automation: High-precision welding and assembly of components.
• Handling and Palletizing: Efficient movement and organization of materials and palletizing.
• Material Processing: Cutting, polishing, painting, and applying uniform, high-quality coatings.
• Inspection and Quality Control: Visual inspection and functional testing to ensure quality standards.

Benefits:

• Increased Productivity: Operate 24/7, boosting production.
• Improved Quality: High precision and defect reduction.
• Safety: Perform dangerous tasks, enhancing workplace safety.
• Flexibility: Adaptable to different tasks and can collaborate with humans (cobots).
• Cost Reduction: Minimize errors and long-term operational costs.

university robots

for this practice

For this practice, I will use the UR5E robot available in the university's automation lab. I will use this robot because, in my opinion, it is more practical and safer for me to use, as I have never controlled a robotic arm like this before. It will also serve as practice for me to learn how to properly use larger robots like the KUKA in the future.

robot ur5e

Here you can see images of the UR-5E robot that I will use for this practice. The arm is bolted to a mobile cart, which is quite heavy and allows us to move it for different practices. Additionally, I will explain a bit about the controls and how it can be operated.

Interface

The UR-5E robot comes with a control tablet that has an operating system for controlling the robot's movements and uploading codes. Additionally, it features a power button and an emergency stop button.

Interface

When powering on the robot, it will prompt for a password to allow manipulation of the robot for security purposes.

Interface

We will need to power on the robot's motors and release the safety locks.

Interface

Here, you can see that the safety locks have been released. Upon releasing the locks, a sound similar to a lock opening can be heard.

Interface

We have different menus within the tablet. Here, we can see the robot's usage time, upload a file to it, and view some other data.

Interface

Here, we can generate routines, movements, and points for the robot. Essentially, we create a program for the robot to execute.

Interface

Here, we can find some of the robot's functions and settings, as well as change the robot's parameters.

Interface

This is the main movement window. With it, we can move the robot in different ways, including moving its axes independently.

Interface

In this window, we can add inputs or outputs to the robot, such as sensors or switches.

Interface

In the last window, we can see voltage and current parameters, as well as the consumption of each motor. It also includes a history of the actions performed with the robot.

Interface

There are many configurations and tools available for creating robot routines. These include linear and curved movements, changing speed, adding equations, creating routines with multiple branches, adding grippers, adjusting the robot's force, sensor verification, repeating processes, and more.

security measures

To move the robot manually, press the button on the back of the tablet to release the robot's locks, allowing you to move it by hand.

security measures

For safety, if the robot collides with an object and exerts a force greater than the programmed limit, it will stop and lock itself.

EXAMPLE

Next, I will show two examples of how to move the robot using the tools available with the robot.

addition

I added an attachment to the robot to hold a marker. This tool is used for various exercises and to draw on a whiteboard.

manual

You will draw something on the board by manually moving the robotic arm point by point. With the help of the programming window, you will save the points to make a square.

Next, you will see the complete figure and the simulation with the saved points.

ROBOT INTERFACE

Here, I will move the robot using the movement window and save the robot's positions. This way, I do not physically manipulate the robot.

PROGRAM

ROBODK

The UR-5E robot comes with a control tablet that has an operating system for controlling the robot's movements and uploading codes. Additionally, it features a power button and an emergency stop button.

Interface

The interface of the RoboDK program is very simple. All the tools are located at the top of the program.

Interface

The most important tools for using the program.

	Open file or document.
	RoboDK program library. Here you find the robots.
	Tool to add a reference and a tool to add a target for the robot.
	New program
	Program playback and pause.
	Types of robot movement

Interface

With the plus and minus keys on the keyboard, we can change the size of the robot's reference frames.

Interface

By double-clicking on the robot, we will open the robot configuration menu, where we can move each of its axes and coordinates.

Interface

By right-clicking on an object in the program's tree, we can open menus with different features.

Interface

This is the RoboDeCAM robot library. Here you can search for the robot you have. To add it to the program, click on the Open button and search for the robot file.

EXAMPLE

Next, I will show an example using the program to generate a figure with the help of the marker. Using the menu to move the robot, I will add targets to save the robot's positions. By selecting the target, I will choose the type of movement for the robot to move in that way.

With all the robot positions saved in the program, I can see a simulation of the robot by double-clicking on the program. To export the code and upload it to the robot, right-click on the program and select "Generate robot program."FILE