Once you start designing tasks using the basic concepts, you will find that some more sophisticated applications may require a deeper and more flexible set of tools as well as a more technical understanding of the robot hardware. The Advanced Concepts below describe these tools and technical specifications. It is a good idea to have a firm understanding of the Basic Concepts before attempting to add the Advanced Concepts to you tasks.
Nudge is a powerful feature of the Intera platform that enables the user to precisely adjust the position, orientation, and angle of any pick, place or hold location without the need to enter Zero-G mode by grasping the robot cuff. All position modifications are made using the navigators and the Approach and Retract points of actions can also be moved using the Nudge feature.
Note: Approach and Retract points of actions with "Snap to Vertical" enabled can not be modified.
Robots in the Rethink Robotics Family are designed to be deployed quickly between tasks or work cells. This design is a beneficial one but it also introduces a whole new set of challenges for robotics. For example, moving robots from one work cell to another means the locations of Pick, Place, and Hold actions for a task must be adjusted in the new work area. When human operators accidentally bump into tables, conveyors, or the robot, the pick or place locations that the robot is expecting can be moved and these slight variables can cause the robot inaccurate picking and placing.
For this reason the Robot Positioning System has been built into the Intera Platform. In a new workflow using this feature, an operator can quickly re-register the robot to the workspace and continue working without having to retrain a task or spend time trying to fine-tune a previously trained task.
Note: At present the Robot Positioning System only works while the task is being trained; it does not dynamically adjust as the robot performs the task.
The Intera software platform uses signals to coordinate the different components of a complete application in order to optimize the overall task. Robots running the Intera platform can send or receive signals from external devices (ie: conveyors, sensors, rotary tables, etc.) in order to allow this coordination to occur. The Baxter robot also uses internal signals to communicate between the two arms. Signals are a critical component of the Intera platform and are a necessity when optimizing complicated tasks. The information below will help get you started using signals with the Intera platform.
Task Editor is a web-based application that allows you to further edit, optimize and monitor tasks that were previously trained on the robot. Parameters that affect precision and speed as well as specific Action parameters like part weight and hold time can be set using Task Editor. In monitor mode, hardware states, signals and confusion reports are available while the robot is running a task.