Universal Robots ActiNav User manual

ActiNavAutonomous
BinPicking
Operating Guide
Original instructions (en)

Contents
1.Introduction 1
1.1. About this document 1
2.Bin Picking Process 2
2.1. 3D sensor alignment 2
2.2. Tool 2
2.3. Environment 2
2.4. Clearance Shapes 2
2.5. Bin 2
3.Procedures 3
3.1. 3D sensor alignment 3
3.1.1. Starting alignment and attaching the alignment marker 3
3.1.2. Recording samples 4
3.2. Tool 5
3.2.1. Adding a Tool 6
3.2.2. Setting TCP and Tool Properties 6
3.2.3. Creating Clearance Shapes for the Tool 7
3.3. Environment 8
3.4. Clearance Shapes 9
3.4.1. Creating a Clearance Shape 9
3.4.2. Creating a Clearance Shape by Teaching 10
3.5. Bin 12
3.5.1. Creating a new Bin 12
3.5.2. Creating a Bin by Teaching 13
3.6. Part 16
3.6.1. Adding a Part 16
3.6.2. Setting Part Properties 17
3.6.3. Creating a Clearance Shape for the Part 17
3.6.4. Validating a Part 18
4.Simple application examples 20
4.1. Basic Pick and Place Program 20
4.1.1. Adding a Pick and Place Loop 20
4.1.2. Pick and Place Rules 21
4.2. ActiNav Home Position 28
Operating Guide ActiNavAutonomous BinPicking
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

4.2.1. Configuring ActiNav Home Position 28
4.3. Find Next Part 29
4.3.1. Configuring Do Pick 29
4.3.2. Configuring Do Place 31
5.Program Structure Validation 34
5.1. Validating a program 34
ActiNavAutonomous BinPicking Operating Guide
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

1.Introduction
1.1. About this document
This guide contains information on how to set up, configure, and use the ActiNavBinPicking
application.
Operating Guide 1 ActiNavAutonomous BinPicking
1.Introduction
Copyright © 2019–2020 by UniversalRobotsA/S. All rights reserved.

2.Bin Picking Process
This section describes the key steps in the ActiNav setup.
2.1. 3D sensor alignment
The ActiNav system includes a 3D sensor that scans the parts and a robot arm that manipulates the
parts. 3D sensor alignment is necessary to let the system know where exactly the robot arm is mounted
in relation to the 3D sensor.
You do the alignment by moving the robot arm with the alignment marker attached and recording the
marker position samples. For more information, see section 3.1. 3D sensor alignmenton page3.
2.2. Tool
In ActiNav an end effector is referred to as the Tool.
A CAD model of the tool is used for display purposes, and to provide a template for creating Clearance
Shapes. For more information, see section 1.Configuring a Toolon page1.
2.3. Environment
The Environment is a virtual representation of the workspace. Objects in the workspace are
represented by Clearance Shapes.
When a program is running, the robot, tool and part do not touch any Clearance Shapes.
In ActiNav, you can create and configure multiple different environments.
2.4. Clearance Shapes
Clearance Shapes are created in the Environment to represent objects in the real world or, to serve as
virtual barriers. They let ActiNav move the robot arm, the tool, and the parts without collisions.
You can create Clearance Shapes by teaching key points with the TCP, or by entering shape
characteristics in the Shape Properties and Shape Coordinates sections.
2.5. Bin
The Bin is the object in the Environment that represents the bin in the workspace.
You define the Bin by teaching the walls and the floor of the Bin, and then specifying its properties and
the scan zone settings. For information on creating the Bin, see section 3.5. Binon page12.
PolyScope shows the Bin as a set of Clearance Shapes, but you cannot edit those Shapes in the
Environment screen. You can edit them by changing the properties of the Bin.
ActiNavAutonomous BinPicking 2 Operating Guide
2.Bin Picking Process
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3.Procedures
This section describes how to perform various procedures related to the configuration of the
ActiNavBinPicking applicationsetup.
3.1. 3D sensor alignment
3D sensor alignment is necessary to let the system know where exactly the robot arm is mounted in
relation to the 3D sensor.
3.1.1. Starting alignment and attaching the alignment marker
NOTICE
Bin placement may limit the range of movement for the alignment marker, and
compromise the alignment accuracy.
• Remove the bin before you start recording samples for the 3D sensor alignment.
1. In PolyScope, select Installation > URCaps > ActiNav Bin Picking > 3D Sensor.
2. On the 3D Sensor screen, select Start Sensor Alignment Wizard.
3. Attach the alignment marker to the tool flange. Tap Confirm, and then tap Next. PolyScope
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3.Procedures
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shows the Collect Samples screen, to record your scan samples.
3.1.2. Recording samples
This procedure has the following success criteria:
• Record at least 8 scan samples.
• The average error value is less than 1mm. It might be necessary to record more than 8 samples
to achieve such value.
Positioning the alignment marker has the following success criteria:
• Ensure the marker is always facing the 3DSensor.
• Ensure each new alignment marker position is different from the previous move.
• Move the marker within the scan volume covered by the sensor.
• Move the marker within the volume occupied by the bin.
To record the scan samples:
1. Tap Reset Samples to ensure that the previously recorded samples do not affect the alignment
results.
2. Tap Move. Use the Freedrive mode, or the Move arrows, to move the alignment marker to a new
position within the 3D sensor scanning volume.
3. Ensure that the line of sight between the alignment marker and the 3D sensor is not blocked by
any objects.
4. Tap Add Sample. The 3D sensor performs a scanning sequence and searches for the alignment
marker.
If the scan is successful, the Status pane updates the Samples Collected and Average Error
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fields.
If the scan is unsuccessful (the 3D sensor could not detect the alignment marker), PolyScope
shows an error prompting you to move the marker again and repeat the scan.
5. Repeat steps 2–3 until you record at least 8 unique position samples and the average error value
is less than 1mm.
6. After recording 8 samples, the Alignment Status indicator turns green. Tap Next.
7. Remove the alignment marker from the tool flange and tap Done.
The 3D sensor alignment is completed.
3.2. Tool
ActiNav works with the tool you decide is best suited to your application.
You need the CAD model of the tool to add a Tool object in ActiNav.
Tool CAD model requirements:
• Supported formats: STEP, OBJ.
• The origin and alignment of the XYZ axes of the tool flange and the tool must coincide when the
tool is attached to the flange.
NOTICE
Creating CAD models with excessive texture, or any invisible internal details, can slow
down the live display in the ActiNav Viewer, or can fail to import.
• Ensure the CAD model is as compact and simple as possible.
Operating Guide 5 ActiNavAutonomous BinPicking
3.Procedures
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3.2.1. Adding a Tool
To add a Tool to the installation:
1. Insert a USB flash drive with the CAD model of the tool into the Teach Pendant.
2. In PolyScope, select Installation > URCaps > ActNav Bin Picking > Tool.
3. In the Manage tab, tap New Tool.
4. In the Import File dialog, tap Browse.
5. Navigate to Media, select the Tool model file, and tap Open.
6. PolyScope imports the CAD model and shows the Properties tab.
Now you can define the TCP and the Tool properties.
3.2.2. Setting TCP and Tool Properties
In the Properties tab, you configure the TCP, the Tool payload, and the Tool center of gravity.
TCP
The Tool Center Point section contains the TCP coordinates and orientation relative to the robot tool
flange.
Tap Copy values from to copy the TCP values from one of the TCPs configured in the current
installation.
To teach TCP values for the Tool using PolyScope, use the TCP Position Wizard in PolyScope in
Installation > General > TCP.
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3.Procedures
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Tool Properties
In the Tool Properties, enter the tool payload and the center of gravity coordinates.
NOTICE
Failure to enter the same data in both the Tool Payload and the Center of Gravity can
result in protective stops and/or robot joint wear.
• Manually enter both the Tool Payload and the Center of Gravity in the ActiNav
Tool screen.
3.2.3. Creating Clearance Shapes for the Tool
Clearance shapes for the Tool are created at the origin of the tool flange.
To create a Clearance Shape:
1. Select the Clearance tab.
2. In the Add new shape section, select desired shape type (Sphere, Capsule, or Lozenge).
3. PolyScope creates the new Shape with a default name. Edit the name if necessary.
4. Enter the values in the Shape Properties and Shape Coordinates sections. The available fields
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depend on the shape type.
3.3. Environment
On the Environment screen, you configure the clearance shapes that either represent the physical
objects inside the workspace, or serve as a virtual barrier.
To create a new environment:
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3.Procedures
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1. In PolyScope, select Installation > URCaps > ActiNav Bin Picking > Environment.
2. In the Manage tab, tap New Environment.
3. The Clearance tab becomes active.
4. Create the Clearance Shapes for the environment. See Clearance Shapes.
5. When you are done creating or editing the Clearance Shapes, tap Save Shape Changes.
3.4. Clearance Shapes
Clearance Shapes are objects in the ActiNav environment that represent objects in the real world or
serve as virtual barriers. They let ActiNav move the robot arm, the tool, and the parts without collisions.
You can create Clearance Shapes by teaching key points with the TCP, or by entering shape
characteristics in the Shape Properties and Shape Coordinates sections.
In ActiNav, you can add Clearance Shapes to the following objects: Environment, Tool, Part.
3.4.1. Creating a Clearance Shape
To create a Clearance Shape:
1. Select the Clearance tab.
2. In the Add new shape section, tap Teach.
3. Select the shape type (Sphere, Capsule, or Lozenge).
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3.Procedures
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4. PolyScope creates the new Shape with the default name. Edit the name if necessary.
5. Enter the values in the Shape Properties and Shape Coordinates sections. The available fields
depend on the Shape type.
3.4.2. Creating a Clearance Shape by Teaching
In the Environment screen you can add Clearance Shapes by teaching key points with the TCP.
To create a Clearance Shape:
1. Select the Clearance tab.
2. In the Add new shape section, tap Teach.
3. Select the shape type (Sphere, Capsule, or Lozenge).
The following sections describe how to teach different types of Shapes.
Teaching a Sphere
To create a Sphere, teach the center point and enter the diameter.
1. In the Teach menu, tap Sphere.
2. Tap Point 1. PolyScope shows the Move tab.
3. Move the TCP to the place where the center of the Sphere should be and tap OK.
4. Tap Done.
5. In the Shape Properties section, fill in the Diameter field.
6. In the Name field, enter the name for this shape.
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Teaching a Capsule
To create a Capsule, teach the two end points, enter the length, and the diameter.
1. In the Teach menu, tap Capsule.
2. Tap Point 1. PolyScope shows the Move tab.
3. Move the TCP to the place where the end point should be and tap OK.
4. Repeat steps 2–3 for end point 2.
5. Tap Done.
6. In the Shape Properties section, fill in the Diameter field. PolyScope calculates the Length filed
value automatically.
7. In the Name field, enter the name for this shape.
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3.Procedures
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Teaching a Lozenge
To create a Lozenge, teach the three points and enter the thickness.
1. In the Teach menu, tap Lozenge.
2. Tap Point 1. PolyScope shows the Move tab.
3. Move the TCP to the place where the point should be and tap OK.
4. Repeat steps 2–3 for points 2 and 3.
5. Tap Done.
6. In the Shape Properties section, fill in the Thickness field. PolyScope calculates the Length and
the Width values automatically.
7. In the Name field, enter the name for this shape.
3.5. Bin
On the Bin screen, you configure the shape and the properties of the bin.
3.5.1. Creating a new Bin
To create a new bin:
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3.Procedures
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1. In PolyScope, select Installation > URCaps > Bin Picking > Bin.
2. In the Manage tab, tap New Bin. PolyScope shows the Create a New Bin screen.
3. Tap Create. PolyScope shows the Bin Creation Wizard screen.
3.5.2. Creating a Bin by Teaching
The Bin Creation Wizard guides you through the process of creating the shape of the bin. The process
consists of defining 4 walls and the bottom of the bin.
On each step, the wizard highlights the wall of the bin that you define. Start with the front bin wall, then
define the left bin wall. Continue to define the back bin wall and the right bin wall.
1 front bin wall 2 left bin wall
3 back bin wall 4 right bin wall
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Defining the walls of the bin
To define a wall, you must define 4 points on the interior side of the wall, and one point at the top of the
wall.
The 4 points should not be near each other.
If the wall has grooves, or is irregular, define points on the innermost surface of the wall.
To define points, move TCP so that it touches a wall in those points. When defining the point at the top
edge of the wall, move the TCP so that it touches the edge of the wall from the top (this can be any point
on the edge).
To define the walls of the bin:
NOTICE
Defining the walls of the bin incorrectly can result in an incomplete bin shape.
• Define the bin walls in a clockwise direction.
1. Tap Point 1. PolyScope shows the Move tab.
2. Move the TCP so that it touches a point on the wall (for one of the points on each wall, the dialog
prompts you to touch the edge of the wall). Tap OK. The circle next to Point1 becomes green.
3. Repeat steps 1–2 for the rest of the points.
4. After defining all points on the current wall, tap Next. The wizard highlights the next wall where
you repeat this procedure. For example, when you define the five points on the front wall of the
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bin, tap Next to move on to wall 2.
The procedure for defining the floor is the same as for the walls, except that you do not specify a point at
the edge of the floor.
After defining the walls of the bin, proceed to Bin propertiesbelow.
Bin properties
To edit the properties of the bin, in the Manage tab, select the bin that you want to edit.
Operating Guide 15 ActiNavAutonomous BinPicking
3.Procedures
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