Table of contents
1 About this manual .............................................................................................................3
1.1 Overview......................................................................................................................3
1.2 Document history ........................................................................................................3
1.3 Further information.....................................................................................................4
2 Hardware ...........................................................................................................................5
2.1 Hardware .....................................................................................................................5
2.2 Mount the hook on a robot .........................................................................................6
3 Cart ....................................................................................................................................3
3.1 Cart specifications .......................................................................................................3
3.1 1 Wheel configuration of the cart .......................................................................3
4 Modifying the gripper........................................................................................................3
4.1 Modifying the gripper for different thickness and/or length ......................................3
5 Space requirements...........................................................................................................4
5.1
Space required to pick up a cart ...................................................................................................... 4
5.2 Basic principle of driving with a cart............................................................................4
5.3 Space required to turn a corner ..................................................................................4
5.4 Space required to park a cart ......................................................................................5
5.5 Space required to park cart in reverse ........................................................................6
6 Accuracy ............................................................................................................................7
6.1 Accuracy ......................................................................................................................7
7 Safety .................................................................................................................................9
7.1 Safety ...........................................................................................................................9
7.1 1 MiRHook 100 ....................................................................................................9
7.1 2 MiRHook 200 ....................................................................................................9
8 Creating QR markers........................................................................................................11
8.1 Creating QR markers..................................................................................................11
9 Set up MiRHook ...............................................................................................................13
9.1 Setting up MiRHook in the Robot interface...............................................................13
9.2 Enable the Hook feature in the Robot interface........................................................13
9.3 Perform a short manual test......................................................................................14
9.4 Perform a homing of the hook ..................................................................................14
9.5 Create an overall cart type ........................................................................................14
9.6 Calibrate a specific cart in the MiR system................................................................15
9.7 Create a specific cart in the Robot interface .............................................................16
9.8 Test the setup ............................................................................................................17
10 Map................................................................................................................................19
10.1 Setting robot and cart positions in the map............................................................19
11 Example .........................................................................................................................21
11.1 Example of a small application ................................................................................21
12 Updating MiRHook software .........................................................................................23
12.1 Update MiRHook software ......................................................................................23
