Conveyor with three robots

Aim of the lesson:

In this lesson the students will design an industrial process consisting of three robot manipulators, and they will program each robot to do a simple coordinated task.

Lab tasks:

The task of this lab is as follows:

Create a new project consisting of three UR10 Universal Robot manipulator arms, two tables and a conveyor belt. Equip the first two robots with grippers, and the last one with a welder gun. Add three objects to the first table.
Write a program for the manipulator A which grabs the objects from the first table and puts them on the conveyor belt (the coordinates must be calculated analytically).
Write a program for the manipulator B which grabs the objects from the conveyor when they arrive, and puts them on the second table (to a predefined location).
Write a program for the manipulator C which welds the upper four edges of the objects.
Create the Main program which runs all the specific programs, this should look like:
- Universal Reset
- Run Conveyor
- Feed Conveyor
- Get Conveyor
- Weld Target

Offline simulation of a pick and place program

Add a new program.

The first instruction is advised to be the "replace objects" by setting every objects position (relative) as defined by the user - this is a reset function in case of misalignment or deleted parts.
Set the reference to the robot manipulator base.
Set the tool to the gripper.
Create a joint movement with the manipulator Home position as target - this command assures that the manipulator starts the routine from the same configuration.
Create the joint movement to the box object.
Attach the box to the gripper with an event instruction.
Test out the different movements (Joint, Linear, Circular).
Create the path given by the following graph (every coordinate given is in mm for (x,y) ), and release the object from the gripper:

The smooth command will round corners of a path by a given length (mm) or percentage(%).

Pause instructions can be added for the robot to wait for an object or for a given time interval.

Test the program in a loop, fix any run-time errors or singularity errors if there are any.

Generate and study the robot manipulator scrip.