NIRMA UNIVERSITY
INSTITUTE OF TECHNOLOGY
COURSE CODE: 2MED52
SUBJECT: ROBOTIC ENGINEERING
ROLL NO: 18BME109
• Experiment No: 4
Universal Robot UR10 E-series Collaborative Robot: Module IV
Feature coordinates, Force Control, Palletizing.
Q1) Discuss the following with necessary diagrams.
∙ Feature, Types of predefined feature, Advantage of Feature
● Feature is a 3 axis coordinate system
● A robot initially has two types of features predefined i.e:
1. Coordinate axis w.r.t to Base
2. Coordinate axis w.r.t to Tcp.
● A Waypoint is always defined w.r.t to the feature i.e selected.
● Initially base is the default feature so waypoint is w.r.t origin of the
base of the robot lies.
● For changing the position of the waypoint, we need to change it
manually.
● For a moving waypoint, we need to add a feature so that the
waypoint moves automatically with respect to the origin of the
feature , So we can define its new position.
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Some Advantages of feature:
● It makes our work easier by giving us proper direction with
respect to the different surfaces of the objects or it would be
tedious to move the robot arm with respect to the base and
position it to a desired location on a surface.
● We do not need to define a new waypoint every time if a similar
surface is used we can define our waypoints by selecting the
previously defined feature for eg:- In our module we have used a
plane feature and we reused it for defining waypoints on a similar
surface. .
● Also by using feature the orientation of the tool will also be taken
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Image taken from:Universal robot E series module
care of, there is need to alter it from time to time.
● We don’t have to make another coordinate system for each
plane.
Simple force mode Force Control:
● In a simple force mode our tool has a force in one direction. Here
in the module it was negative z-axis which was w.r.t the base as
Base was selected as feature.
● If we have to set force w.r.t to tool axis. We have to change
featurefrom base to tool. By entering the value of force direction
will be parallel to the tool z axis.
● In this setting the tool is forcing in the direction of Z-axis.
● This feature is useful when the application of force is in one
direction only.
● In case of polishing an object we use this kind of force, a one
directional force.
● We need to ensure that the magnitude of force and speed of
the tool must set properly to polish the component.
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Image taken from:Universal robot E series module
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● In this case the polishing is not done correctly if we apply lower
force and high speed.The polishing is not done correctly If we
apply lower speed and higher force it will polish as our expec
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Image taken from:Universal robot E series module
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Frame mode Force Control:
● It is used when the force applied is a vector summation of two
directions acting in 2 directions, here it is the Z axis and X axis.
● For this we need to use a function frame for this kind of force mode.
● Feature is added in the table where the workpiece is kept.
● Now for deburring operation if we select the value of forces as
positive magnitude, it won’t work .We need to apply force in negative
Z and negative X direction hence we enter negative values in boththe
fields.
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Image taken from:Universal robot E series module
Point mode Force Control:
● This is useful when we deburr a circular surface and the force is acting
towards a point. Here it’s at the center.
● As here as point comes in picture, we need to select a point like here the
force is acting towards the center of workpiece.
● So we have to take the centre of the product as a point. Because we
have to rotate and deburr around that point. .
● Here the red dot shows the point we need to select.
● Select an appropriate magnitude and direction for the operation.
● We need to select the point feature as the tool will be applying force w.r.t
the point position to execute this work.
Advantage of Pallet template and Types of patterns for palletizing:
● Three types of patterns are there, line, grid and irregular.
● The line patterns are use when we want to set a product in one line.In
this method we need to make several lines for making one plane.
● The other one is grid pattern. In this method we need to set 4
corners by placing product virtually at 4 corners.
● Also we need to mention value of rows and columns.
● Last is irregular pattern.In this pattern we can add irregular shape
and make one layer.
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Image taken from:Universal robot E series module
● For this we need to set position for each product and after that
we can get one layer.
Advantage of Pallet template:
● Stacking becomes easy and organized.
● Its easier to make pattern.
● In the option we can make a custom type of pattern for us.
● No. of rows and columns are decided and then stacking is done
by keeping a separator.
● We have to set only corner points and enter row and column.
● Also after separator we can change the pattern at upper layer
● Repeatability.
Approach point and Exit point in palletizing:
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Image taken from:Universal robot E series module
● Approach point and exit point are point where the robot enters, place the
object and where the robot exit.
● For that first we have to define reference point.
● After that we have to define approach point. It’s the point where the
robot will enter with object
● At the time of defining this point we have to ensure that the object will
not collide. Also, it’s not degrading its functionality.
● So, after reference point, we have to set the approach point by move
the product.
● Exit point is the point where after place the object the robot should exit
from that point.
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● So, for that we have to define point. After clicking the set waypoint, we
have to move robot to that point for fixing the exit point.
● In the pick and place application the approach and exit point
is same.
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Image taken from:Universal robot E series module
● It will be different application to application.
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Layers and Separator:
➔ Layers are the set of products we have to place in order to
structural stability and integrity.
➔ We can add several layers at the place.
➔ But we have to see how many layers withstand and hoe its
structural integrity remain same.
➔ If we can add more and more layer without robot performance
and functionality it will unnecessarily generate stress which will
affect its performance.
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Image taken from:Universal robot E series module
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➔ Separator is used to separate layers.
➔ We can integrate the separate program in overall process.
➔ We have to set height for that at which height we have
to place.
➔ Its work is to separate the layers to make structural
integrity of layer.
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Image taken from:Universal robot E series module
