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.
- 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.
Training Pick and Place Patterns
The following 2x3 grid pattern will be used to represent the pick locations and boundaries:
- Start a new task.
- 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.
- Press the Grasp button. The Head Screen displays the Insert Pick menu.
- 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.
- Press the OK button on the Navigator. That will display the type of pattern options: line, grid, and box.
- Select the Grid option, as shown.
- Since you chose to create a grid, the next step is to define its corners. Press OK to start defining corners.
- You will now set the outside corner -- the outer pick location of the first part -- for the first corner in the grid.
- 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.
- Press the OK button on the Navigator. (The Grasp button or the round Action button on the cuff will also work).
- Repeat these steps for corners 2, 3, and 4. Make sure to define the corners in the order shown.
- When you have defined all the corners, you will see the following display:
- Press OK to go to the next step.
- 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.
- Scroll to display 2 in the box on top of the screen and select it with the OK button.
- 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.
- Scroll to the 5x5x1 checkbox and press OK. The setup of rows will look like this:
- Press OK to allow modifications to the direction,
- 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.
- Select the type of arm movement desired for the picks, either Snake or Zigzag.
- 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.
- Press OK to close the gripper and build the pick branch.
- Now, to create the corresponding place pattern for this task, press the Grasp button.
- Select Pattern.
- You may now run the task.
Defining the type of pattern
Defining pattern corners
Defining number of actions
Defining the direction
Train the Place Pattern
The following Insert Place menu screen will display:
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:
Notice how the parent node for the pick is a pattern node.