Simple UR3 tasks

Aim of the lesson:

In this lesson, students will have the opportunity to further deepen the knowledge of robot programming based on two common industrial problems.

The task of this lab is as follows:

Exercise 2: Simple planar work
- Bring the robot to Home position using joint movement [WP1].
- Move the robot near the object using joint movement (x_ref = x_obj, y_ref = y_obj, z_ref = z_obj + 100mm) [WP2].
- Open the gripper.
- Bring the gripper down onto the pencil using linear movement (z_ref = z_obj) [WP3].
- Close the gripper.
- Delay for 200ms.
- Move the robot back to [WP2] using linear motion.
- Move the pencil to a point on the circle (x_ref = x_c1,
  y_ref = y_c1, z_ref = z_c1 + 100mm) [WP4] using joint movement.
- Move down the pencil using linear motion (z_ref = z_c1) [WP5].
- Draw a circle on the paper by using a path tracking movement containing two circular motions.
- Bring the pencil back to [WP2] using joint movement.
- Go to [WP3] using linear motion.
- Open the gripper.
- Delay for 200ms.
- Go to [WP2] using linear motion.
- Close the gripper.
- Go to [WP1] using joint motion.
Exercise 3: Simple item assembly work
- Study the objects placed in the workspace of the robot.
- Devise a program with which one can pick up the first object, bring it above the second object, interlock the two objects by inserting and twisting the object in the gripper.
- Test the program at reduced speeds.
- Test the program at full speed.

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.