Training patterns on the Robot Screen

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Overview

This tutorial shows you how to create a pick and place task using the robot’s train by demonstration capabilities and Patterns. As with the previous simple pick and place tutorial, this task can be created entirely on Sawyer’s Head screen.

Definitions

  • Train by Demonstration
  • Pattern - In Intera, a pattern is a template of discernible regularity. As such, the elements of a pattern repeat in a predictable manner.
  • Zero-G

Training Pick and Place Patterns

The following 2x3 grid pattern will be used to represent the pick locations and boundaries:

Patternform.jpg

  1. Start a new task.
  2. Move the robot arm in zero-G mode to the first point in the picking location, in this example, #1. This will be the outside boundary for this corner of the pattern.
  3. Press the Grasp button. The Head Screen displays the Insert Pick menu.
  4. Pickpattern.jpg

  5. Scroll to Pattern and press the Grasp button to select it. The left side of the Head Screen now displays the steps you need to perform to create a pattern.

  6. Defining the type of pattern

  7. Press the OK button on the Navigator. That will display the type of pattern options: line, grid, and box.
  8. Patterntype.jpg

  9. Select the Grid option, as shown.

  10. Defining pattern corners

  11. Since you chose to create a grid, the next step is to define its corners. Press OK to start defining corners.
  12. Corners.jpg

  13. You will now set the outside corner -- the outer pick location of the first part -- for the first corner in the grid.
  14. If the robot arm is not already there, move it in zero-G to the first corner, which would be #1 in our 2x3 grid example.
  15. Corner1.jpg

  16. Press the OK button on the Navigator. (The Grasp button or the round Action button on the cuff will also work).
  17. Repeat these steps for corners 2, 3, and 4. Make sure to define the corners in the order shown.
  18. When you have defined all the corners, you will see the following display:
  19. Cornerscomplete.jpg

  20. Press OK to go to the next step.

  21. Defining number of actions

  22. Remember that, in our example, there are 2 rows across the top of the grid, from corner #1 to corner #2, and 3 rows down, from corner #2 to corner #3.
  23. Patternxy.jpg

  24. Scroll to display 2 in the box on top of the screen and select it with the OK button.
  25. PatternX.jpg

  26. There are three rows from corner #2 to corner #3, so scroll to the small box on the right side of the screen and change the number to 3 and press OK, as show below.
  27. PatternY.jpg

  28. Scroll to the 5x5x1 checkbox and press OK. The setup of rows will look like this:
  29. Pattern2x3.jpg


    Defining the direction

  30. Press OK to allow modifications to the direction,
  31. Direction.jpg

  32. Scroll to choose the direction of the arm movement, that is, in which direction the first two picks are going to be. This example shows the arm will move from 1 to 2.
  33. Direction1.jpg


    Defining movement

  34. Select the type of arm movement desired for the picks, either Snake or Zigzag.
  35. Zigzag.jpg

  36. Move the robot arm in zero-G to the first pick location and place the gripper in a position so that it can grab the part.
  37. Press OK to close the gripper and build the pick branch.
  38. Patternbranch.jpg

    Train the Place Pattern

  39. Now, to create the corresponding place pattern for this task, press the Grasp button.
  40. The following Insert Place menu screen will display:

    Placepattern.jpg

  41. Select Pattern.
  42. The steps for creating a place pattern are virtually the same as creating the pick pattern. When you have completed those steps, your Head Screen should look much like this one:

    Placepattern1.jpg

  43. You may now run the task.
  44. Notice how the parent node for the pick is a pattern node.