[협동] DART 플랫폼(두산로보틱스)을 활용한 협동로봇 동작 운영 실습 5일차

2024.12.16

 

5일차에는 로봇팔이 금속 상자를 옮기고 다시 원위치로 옮기는 과정을 일정한 패턴을 활용하여 동작하도록 설계해보았다.

 

def grip() :
    set_digital_output(1,1)
    set_digital_output(2,0)
    #wait_digital_input(1,1)
 #여는 함수 설정
def ungrip():
    set_digital_output(1,0)
    set_digital_output(2,1)
    #wait_digital_input(2,1)
def grip_ungrip(g_pick,g_place):
    delta = [0, 0, 50, 0, 0, 0]
    delta2 = [0, 0, 200, 0, 0, 0]
    pick_app = trans(g_pick, delta, DR_BASE, DR_BASE)
    pick_ret = trans(g_pick, delta2, DR_BASE, DR_BASE)
    place_app = trans(g_place, delta, DR_BASE, DR_BASE)
    place_app = trans(g_place, delta, DR_BASE, DR_BASE)
    place_ret = trans(g_place, delta2, DR_BASE, DR_BASE)
    movel(pick_app, v=100, a=80, ref= DR_BASE, mod=DR_MV_MOD_ABS)
    movel(g_pick, v=100, a=80, ref= DR_BASE, mod=DR_MV_MOD_ABS)
    grip()
    movel(pick_ret, v=100, a=80, ref= DR_BASE, mod=DR_MV_MOD_ABS)
    movel(place_app, v=100, a=80, ref= DR_BASE, mod=DR_MV_MOD_ABS)
    movel(g_place, v=100, a=80, ref= DR_BASE, mod=DR_MV_MOD_ABS)
    ungrip()
    movel(place_ret, v=100, a=80, ref= DR_BASE, mod=DR_MV_MOD_ABS)
def grip_spin_ungrip(g_pick,g_place):
    delta = [0, 0, 50, 0, 0, 0]
    delta2 = [0, 0, 100, 0, 0, 0]
    pick_app = trans(g_pick, delta2, DR_BASE, DR_BASE)
    pick_ret = trans(g_pick, delta2, DR_BASE, DR_BASE)
    place_app = trans(g_place, delta, DR_BASE, DR_BASE)
    place_ret = trans(g_place, delta2, DR_BASE, DR_BASE)
    movel(pick_app, v=100, a=80, ref= DR_BASE, mod=DR_MV_MOD_ABS)
    movel(g_pick, v=100, a=80, ref= DR_BASE, mod=DR_MV_MOD_ABS)
    grip()
    movel(pick_ret, v=100, a=80, ref= DR_BASE, mod=DR_MV_MOD_ABS)
    movel(place_app, v=100, a=80, ref= DR_BASE, mod=DR_MV_MOD_ABS)
    set_ref_coord(DR_TOOL)
    task_compliance_ctrl(stx=[500, 500, 500, 100, 100, 100])
    fd = [0, 0, 20, 0, 0, 0]
    fctrl_dir= [0, 0, 1, 0, 0, 0]
    set_desired_force(fd, dir=fctrl_dir, mod=DR_FC_MOD_REL)
    while True:
        fck=check_force_condition(DR_AXIS_Z,min=20,ref=DR_BASE)
        if fck==True:
            release_force(time=0)
            release_compliance_ctrl()
            break
    ungrip()
    movel(place_ret, v=100, a=80, ref= DR_BASE, mod=DR_MV_MOD_ABS)
pick_list = [posx(500.6, 149.19, 38.96, 38.24, 179.83, 38.14),
				posx(500.6, 45.56, 38.96, 2.46, -179.93, 2.48),
				posx(397.01, 149.19, 38.96, 121.49, -179.88, 121.65),
				posx(397.01, 45.56, 38.96, 70.93, -179.59, 71.37)]

place_list = [posx(500.6, -3.05, 38.96, 38.24, -179.83, 38.14),
				posx(500.6, -103.53, 38.96, 2.46, -179.93, 2.48),
				posx(397.01, -3.05, 38.96, 121.49, -179.88, 121.65),
				posx(397.01, -103.53, 38.96, 70.93, -179.59, 71.37)]

posx(451.81, -49.97, 30.25, 10.11, -178.5, 10.81)
direction = 1
row = 3
column = 3
stack = 1
thickness = 0
point_offset = [0, 0, 0]
total_count = row * column * stack
Pallet_Pick_Pose =[]
for pallet_index in range(0, total_count):
    Pallet_Pick_Pose.append (get_pattern_point(pick_list[0],pick_list[1],
    							pick_list[2],pick_list[3], pallet_index, 
    							direction, row, column, stack, 
    							thickness, point_offset))

Pallet_Place_Pose =[]
for pallet_index in range(0, total_count):
    Pallet_Place_Pose.append(get_pattern_point(place_list[0],place_list[1],
    							place_list[2],place_list[3], pallet_index, 
    							direction, row, column, stack, 
    							thickness, point_offset))

pallet_cnt=0
def move_to_place():
    ungrip()
    global pallet_cnt
    if pallet_cnt>= 9:
        pallet_cnt= 0
    while pallet_cnt < 9 :
        grip_spin_ungrip(Pallet_Pick_Pose[pallet_cnt],Pallet_Place_Pose[pallet_cnt])
        pallet_cnt += 1
def return_to_place():
    ungrip()
    global pallet_cnt
    if pallet_cnt>= 9:
        pallet_cnt= 0
    while pallet_cnt < 9 :
        grip_spin_ungrip(Pallet_Place_Pose[pallet_cnt], Pallet_Pick_Pose[pallet_cnt])
        pallet_cnt += 1
def main():
    move_to_place()
    return_to_place()
main()

 

https://youtube.com/shorts/UEru2wamMe0

 

또한, 공간제한구역, 협동작업구역, 협착방지구역을 설정하여 로봇팔 즉, 협동 로봇과 사람이 함께 작업을 시행할 때의 위험상황을 최대한 줄이는 방법에 대해 배우고 설계해보았다.

 

 

 

 

또한, 로봇팔이 실제 산업 현장에서 어떻게 쓰일지 고민해보고 기획을 한 후 그 협동 로봇의 안전율을 올리는 방법에 대해 기획해보는 시간을 가지며 마무리를 하였다.

 

협동로봇기획안.pdf

0.55MB

 

 

_ROKEY-1기__협동-1_5차시_자료.pdf

2.94MB

_ROKEY-1기__협동-1_5차시_참고자료_231023_고정식_이동식_산업용_로봇_협동작업_OPS_최종.pdf

17.30MB