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HALRobotics / Beta

HAL Robotics Framework beta release and associated documentation.
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Jerky transitions and Custom grippers #101

Closed sampson-young closed 3 years ago

sampson-young commented 3 years ago

Hi HAL,

I am using HAL to program a simple pick and place operation for a UR10 robot. During the physical robotic arm tests, I got two problems and these are the files I am working with. HAL Workflow Test 3.zip

1. can't get the correct gripper code.

I am using the Robotiq 2F-140 Grippers, and I followed the tutorial: https://github.com/HALRobotics/Beta/discussions/84

image

But I got quite a different script output. The code CustomActionReleaseObject() , actually can not be read by the robot. Is that possibly due to the UR10 software not having any reference to this custom action? Once I removed these lines, the code uploaded, and the program ran on the UR10, but the gripper does not work. Do you have any idea about how to export the right code or how to operate the Robotiq Gripper for "take and release"?

2. Jerky transition.

After I deleted the gripper code, the robotic arm runs. But, the end of each move is quite violent (jerky) the whole structure ‘judders’ at the transition between moves. I’m not sure if I can add some sort of ‘accelleration/decelleration’ settings to the script to smooth these out? Or how to make the move smooth?

https://user-images.githubusercontent.com/37079727/117827389-d6802f80-b268-11eb-938c-f6d4deec0011.mp4

Looking forward to your idea and reply.

Best wishes, Yang Song

sebandraos commented 3 years ago

@sampson-young

  1. That is placeholder code, you need to replace that method call with the relevant code for the UR to activate your gripper. If the gripper is activated by I/O signals rather than a method call then that can be reproduced using the SetSignalAction as explained here.
  2. There is a MotionSettings input on every Move component. Those Motion Settings have an Acceleration Settings input which should allow you to tune the acceleration of your arm.