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First Steps

Before you start your first task, make sure that:

Overview

Training the robot is really easy and you will be able to train your first basic task in a few minutes. This page will help you get started with this first task and will focus on making your first Pick and Place as well as learn how to use the robot's force sensing capabilities to make a stack.

Basic Pick and Place Task

NOTE: When creating a new task, it is important to make sure that the elbow joint is properly positioned to ensure that the arm is able to move to the desired action points with ease and flexibility. For more information, see the Elbow Management page.

  1. Grab the Training Cuff on one of Baxter’s arms. Notice that while you squeeze the dimples on the Cuff, the blue Navigator lights illuminate and the arm becomes weightless (zero-gravity or zero-force mode) and easy to position.
    Hardware training cuff.PNG Nav2.png
  2. Using the Navigator knob, scroll to a New task on Baxter’s screen and press the Navigator OK button to display the Task Map. The Task Map shows Baxter’s work space in gray.
    Faces3.png ==> Task map.png
  3. Grab the Cuff and position Baxter’s arm so that the gripper is making contact with the part.
    • If you are using a vacuum gripper, make sure that the vacuum cup is making good contact with the part so that the vacuum will hold the part in place.
    • If you are using the electrical parallel gripper, make sure that the part is in between the fingers so that when the gripper is closed, the finger tips will make good contact with the part and keep it in place.
    Tip: The crosshair representing the Gripper will be a color (blue or green) on the Task Map when the Gripper is positioned straight down. When positioned off-vertical you'll see a red circle outside of the crosshair on the Task Map.
    Tip: Be careful that none of the 7 joints on the robot's arm are not at or near a hard limit. If a joint is near a hard limit, the robot may not allow you to create a pick, place, or hold in this joint configuration. You can determine if the arm is near a hard stop or close to the screen if the arm icon on the user interface has been grayed out.
  4. With the arm and gripper in place, press the Grasp button on the Cuff. The gripper will actuate and the Task Map will display an up arrow to indicate the Pick location. When the pick location is selected by using the navigator knob, the action will show a number and a letter on the top-left corner. This details shows to what subtask the action belongs and what is the order of the action within the subtask. For example, 1A means that the action belongs to the 1st subtask and the A means this is the first action in that subtask.
    Tip: Baxter’s Display nods to acknowledge the Pick.
    Pick
    Tip: Select the Pick to open the Modify Panel. Then select + and add a part weight if the weight of the part is greater than 0.1 Kg or above.
  5. Grab the Cuff and position the arm in a different location on the workspace. The part should make contact with the work surface. Then press the Grasp button to release the part.
    Tip: Baxter’s Display nods to acknowledge the Place. The Task Map now displays the Place location with a down arrow.
    Place
    Tip: Try to avoid reaching the robot's joint limits. If any joint is at its limit, the robot will not recognize a pick or place.
  6. The last step before running the task is to name the task. Press the Rethink button on the Navigator, scroll to Rename and press OK. Scroll around the wheel to create an alphanumeric name for your first task and select Rename to return to the menu.
    Tip: Baxter gives tasks a default name with a numeric suffix and auto saved as the task has been created. Entering a unique, descriptive name will help you to more easily identify the task in the task gallery.
  7. Press on the Back Button until you are back to the main menu. Select Run to see Baxter perform the first task. Make sure to reposition your part back to the Pick location after Baxter moves it to the Place location.
    Tip: The difference between selecting Run and Reset is simple; Reset will restart the whole task and clear all counts while Run will continue from where the task left off in case the robot was stopped in the middle of a task.
  8. In order to learn a little about Baxter's error handling, try the following while the task is running:
    • don't replace the part at the pick location so that the robot can't pick a part
    • after the robot has picked the part, remove it from the gripper
    • grab the cuff while the robot is running
    • push any of the buttons on Baxter while the task is running
    • allow the robot to place multiple parts on top of each other at the place location
  9. You may have noticed that Baxter may not stack parts reliably. This is due to the fact that the arm is driving to a position and not currently using its force sensing. In order to have the arm stack more reliably, follow the instructions for Action Control

Video

First Steps

Before you start your first task, make sure that:

Overview

Training the robot is really easy and you will be able to train your first basic task in a few minutes. This page will help you get started with this first task and will focus on making your first Pick and Place as well as learn how to use the robot's force sensing capabilities to make a stack.

Basic Pick and Place Task

NOTE: When creating a new task, it is important to make sure that none of the arm joints are positioned at the limits. For more information, see the Elbow Management page.

  1. Grab the Training Cuff on Sawyer's arm. Notice that while you squeeze the dimples on the Cuff, the Training Cuff light illuminates in white light and the arm becomes weightless (zero-gravity or zero-force mode) and easy to position.
    Cuff and Nav.png
  2. Using the Selector knob, scroll to a New task on Sawyer’s screen and press the Selector knob to display the Task Map. The Task Map shows Sawyer's work space in gray.
    S33 New.jpeg ==> S33 Blank Task Map.jpeg
  3. Grab the Cuff and position Sawyer’s arm so that the gripper is making contact with the part.
    • If you are using a vacuum gripper, make sure that the vacuum cup is making good contact with the part so that the vacuum will hold the part in place.
    • If you are using the electrical parallel gripper, make sure that the part is in between the fingers so that when the gripper is closed, the finger tips will make good contact with the part and keep it in place.
    Tip: The crosshair representing the Gripper will be blue on the Task Map when the Gripper is positioned straight down. When positioned off-vertical you'll see a red circle outside of the crosshair on the Task Map.
    Tip: Be careful that none of the 7 joints on the robot's arm are not at or near a hard limit. If a joint is near a hard limit, the robot may not allow you to create a pick, place, or hold in this joint configuration. You can determine if the arm is near a hard stop or close to the screen if the arm icon on the user interface has been grayed out or if any of the Joint Limit indicators on the left of the Task Map are all red.
  4. With the arm and gripper in place, press the Grasp button on the Cuff. The gripper will actuate and the Task Map will display an up arrow to indicate the Pick location. When the pick location is selected by using the Selector knob, the action will show a number and a letter on the top-left corner. This details shows to what subtask the action belongs and what is the order of the action within the subtask. For example, 1A means that the action belongs to the 1st subtask and the A means this is the first action in that subtask.
    Tip: The Pick icon shows a dot to indicate an off-vertical pick (Snap to Vertical is not checked).
    pick
    Tip: Select the Pick to open the Modify Panel. Then select + and add a part weight if the weight of the part is greater than 0.1 Kg or above.
  5. Grab the Cuff and position the arm in a different location on the workspace. The part should make contact with the work surface. Then press the Grasp button to release the part.
    Tip: The Task Map now displays the Place location with a down arrow. The Place icon also has a dot to indicate an off-vertical Place.
    place
    Tip: Try to avoid reaching the robot's joint limits. If any joint is at its limit, the robot will not recognize a pick or place.
  6. The last step before running the task is to name the task. Press the Rethink button on the Navigator, scroll to Rename and press the Selector knob. Scroll around the wheel to create an alphanumeric name for your first task and select Rename to return to the menu.
    Tip: Sawyer gives tasks a default name with a numeric suffix and auto saved as the task has been created. Entering a unique, descriptive name will help you to more easily identify the task in the task gallery.
  7. Press on the Back Button until you are back to the main menu. Select Run to see Sawyer perform the first task. Make sure to reposition your part back to the Pick location after Sawyer moves it to the Place location.
    Tip: The difference between selecting Run and Reset is simple; Reset will restart the whole task and clear all counts while Run will continue from where the task left off in case the robot was stopped in the middle of a task.
  8. In order to learn a little about Sawyer's error handling, try the following while the task is running:
    • don't replace the part at the pick location so that the robot can't pick a part
    • after the robot has picked the part, remove it from the gripper
    • grab the cuff while the robot is running
    • push any of the buttons on Sawyer while the task is running
    • allow the robot to place multiple parts on top of each other at the place location
  9. You may have noticed that Sawyer may not stack parts reliably. This is due to the fact that the arm is driving to a position and not currently using its force sensing. In order to have the arm stack more reliably, follow the instructions for Action Control

Next Step

Learn How to Use the Intera Platform