Example Program 3: MM_S3_Vis_Path

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Program Introduction

Description

The robot triggers the Mech-Vision project to run, and then obtains the planned path for picking and placing.

File path

You can navigate to the installation directory of Mech-Vision and Mech-Viz and find the file by using the Communication Component/Robot_Interface/KUKA/sample/MM_S3_Vis_Path path.

Project

Mech-Vision project

The Mech-Vision project should contain a Path Planning Step, and the Port Type parameter of the Output Step should be set to Predefined (robot path).

Prerequisites

You have set up the Standard Interface communication.
Automatic calibration is completed.

This example program is provided for reference only. Before using the program, please modify the program according to the actual scenario.

Program Description

This part describes the MM_S3_Vis_Path example program.

DEF MM_S3_Vis_Path ( )
;---------------------------------------------------
; FUNCTION: trigger Mech-Vision project and get
; planned path
; Mech-Mind, 2023-12-25
;---------------------------------------------------
   ;set current tool no. to 1
   BAS(#TOOL,1)
   ;set current base no. to 0
   BAS(#BASE,0)
   ;move to robot home position
PTP HOME Vel=100 % DEFAULT
   ;initialize communication parameters (initialization is required only once)
   MM_Init_Socket("XML_Kuka_MMIND",873,871,60)
   ;move to image-capturing position
LIN camera_capture Vel=1 m/s CPDAT1 Tool[1] Base[0]
   ;trigger Mech-Vis project
   MM_Start_Vis(1,0,2,init_jps)
   ;get planned path from NO.1 Mech-Vision project; 2nd argument (1) means getting pose in JPs
   MM_Get_Vispath(1,1,pos_num,vis_pos_num,status)
   ;check whether planned path has been got from Mech-Vision successfully
   IF status<> 1103 THEN
      ;add error handling logic here according to different error codes
      ;e.g.: status=1003 means no point cloud in ROI
      ;e.g.: status=1002 means no vision results
      halt
   ENDIF
   ;save waypoints of the planned path to local variables one by one
   MM_Get_Jps(1,Xpick_point1,label[1],toolid[1])
   MM_Get_Jps(2,Xpick_point2,label[2],toolid[2])
   MM_Get_Jps(3,Xpick_point3,label[3],toolid[3])
   ;follow the planned path to pick
   ;move to approach waypoint of picking
PTP pick_point1 Vel=50 % PDAT1 Tool[1] Base[0]
   ;move to picking waypoint
PTP pick_point2 Vel=10 % PDAT2 Tool[1] Base[0]
   ;add object grasping logic here, such as "$OUT[1]=TRUE"
   halt
   ;move to departure waypoint of picking
PTP pick_point3 Vel=50 % PDAT3 Tool[1] Base[0]
   ;move to intermediate waypoint of placing
PTP drop_waypoint CONT Vel=100 % PDAT4 Tool[1] Base[0]
   ;move to approach waypoint of placing
LIN drop_app Vel=1 m/s CPDAT2 Tool[1] Base[0]
   ;move to placing waypoint
LIN drop Vel=0.3 m/s CPDAT3 Tool[1] Base[0]
   ;add object releasing logic here, such as "$OUT[1]=FALSE"
   halt
   ;move to departure waypoint of placing
LIN drop_app Vel=1 m/s CPDAT2 Tool[1] Base[0]
   ;move back to robot home position
PTP HOME Vel=100 % DEFAULT
END

The workflow corresponding to the above example program code is shown in the figure below.

The table below explains the above program. You can click the hyperlink to the command name to view its detailed description.

Feature Code and description

Set the reference frame

   ;set current tool no. to 1
   BAS(#TOOL,1)
   ;set current base no. to 0
   BAS(#BASE,0)

BAS(#TOOL,1): Set the current tool reference frame to 1.
BAS(#BASE,0): Set the current base reference frame to 0.

The above two statements set the current tool and base reference frames.

Move to the home position

   ;move to robot home position
PTP HOME Vel=100 % DEFAULT

PTP: The point-to-point mode. In this mode, the robot moves its TCP along the quickest path to the target point.
HOME: The name of the target point (home position).

You should teach the home position in advance. For detailed instructions, see Teach Calibration Start Point in the calibration document.
Vel=100 %: The velocity.
DEFAULT: The system-assigned name for a motion data set.

The above statement specifies to move the robot in PTP mode to the taught home position.

Initialize communication parameters

   ;initialize communication parameters (initialization is required only once)
   MM_Init_Socket("XML_Kuka_MMIND",873,871,60)

The MM_Init_Socket command establishes the TCP communication between the robot and the vision system based on the configurations in the XML_Kuka_MMIND.xml file.

For more information about the XML_Kuka_MMIND file, see MM_Init_Socket.

Move to the image-capturing position

   ;move to image-capturing position
LIN camera_capture Vel=1 m/s CPDAT1 Tool[1] Base[0]

LIN: The linear motion mode.
camera_capture: The target point name, which is the image-capturing position.

You should teach the image-capturing position in advance. For detailed instructions, see Teach Calibration Start Point in the calibration document.
Vel=1 m/s: The velocity.
CPDAT1: The system-assigned name for a motion data set.
Tool[1]: The tool reference frame 1.
Base[0]: The base reference frame 0.

The above statement specifies to move the robot linearly to the taught image-capturing position.

Trigger the Mech-Vision project to run

   ;trigger Mech-Vis project
   MM_Start_Vis(1,0,2,init_jps)

MM_Start_Vis: The command to trigger the Mech-Vision project to run.
1: The Mech-Vision project ID.
0: The Mech-Vision project is expected to return all waypoints.
2: Specify that the robot flange pose must be input to the Mech-Vision project.
init_jps: Custom joint positions. The joint positions in this example program are of no practical use but must be set.

The entire statement indicates that the robot triggers the vision system to run the Mech-Vision project with an ID of 1 and expects the Mech-Vision project to return all waypoints.

Obtain the planned path

   ;get planned path from NO.1 Mech-Vision project; 2nd argument (1) means getting pose in JPs
   MM_Get_Vispath(1,1,pos_num,vis_pos_num,status)

MM_Get_VisPath: The command to obtain the planned path from Mech-Vision.
First 1: Specify the Mech-Vision project ID.
Second 1: Specify the pose type of obtained waypoints as joint positions.
pos_num: The variable that stores the number of waypoints returned by the vision system.
vis_pos_num: The variable that stores the sequence number of the Vision Move waypoint (picking waypoint) in the path.
status: The variable that stores the command execution status code.

The entire statement indicates that the robot obtains the planned path from the Mech-Vision project that has an ID of 1.

The returned planned path is saved to the robot memory and cannot be directly obtained. To access the planned path, you must store the planned path in a subsequent step.

   ;check whether planned path has been got from Mech-Vision successfully
   IF status<> 1103 THEN
      ;add error handling logic here according to different error codes
      ;e.g.: status=1003 means no point cloud in ROI
      ;e.g.: status=1002 means no vision results
      halt
   ENDIF

IF A THEN … ENDIF: When condition A is met, the program executes the code between IF and ENDIF.
<>： Not equal.

The above statement indicates that when the status code is 1103, the robot has successfully obtained the planned path; otherwise, an exception has occurred in the vision system and the program executes the code between IF and ENDIF. You can perform the corresponding operation based on the specific error code. In this example program, all error codes are handled in the same way, by pausing the program execution using the halt command.

Store the planned path

   ;save waypoints of the planned path to local variables one by one
   MM_Get_Jps(1,Xpick_point1,label[1],toolid[1])
   MM_Get_Jps(2,Xpick_point2,label[2],toolid[2])
   MM_Get_Jps(3,Xpick_point3,label[3],toolid[3])

MM_Get_Jps: The command to store the planned path.
1: Store the first waypoint.
Xpick_point1: The variable that stores the joint positions of the first waypoint.
label[1]: The variable that stores the label of the first waypoint.
toolid[1]: The variable that stores the tool ID corresponding to the first waypoint.

The entire statement “MM_Get_Jps(1,Xpick_point1,label[1],toolid[1])” stores the joint positions, label, and tool ID of the first waypoint in the specified variables.

In this example program, the path planned by Mech-Vision consists of three waypoints: the first waypoint is the approach waypoint of picking (Xpick_point1), the second is the picking waypoint (Xpick_point2), and the third is the departure waypoint of picking (Xpick_point3). Please store the planned path based on the actual Mech-Vision project.

Move to the approach waypoint of picking

   ;move to approach waypoint of picking
PTP pick_point1 Vel=50 % PDAT1 Tool[1] Base[0]

The robot moves to the approach waypoint of picking. pick_point1 and Xpick_point1 indicate the same position.

Move to the picking waypoint

   ;move to picking waypoint
PTP pick_point2 Vel=10 % PDAT2 Tool[1] Base[0]

The robot moves to the picking waypoint. pick_point2 and Xpick_point2 indicate the same position.

Set DO to Perform Picking

   ;add object grasping logic here, such as "$OUT[1]=TRUE"
   halt

After the robot moves to the picking waypoint, you can set a DO (such as “$OUT[1]=TRUE”) to control the robot to use the tool to perform picking. Please set DOs based on the actual situation.

halt indicates to pause the program execution. If you have added a statement to set a DO, you can delete the halt statement here.

Move to the departure waypoint of picking

   ;move to departure waypoint of picking
PTP pick_point3 Vel=50 % PDAT3 Tool[1] Base[0]

The robot moves to the departure waypoint of picking (pick_point3). pick_point3 and Xpick_point3 indicate the same position.

Move to the intermediate waypoint

   ;move to intermediate waypoint of placing
PTP drop_waypoint CONT Vel=100 % PDAT4 Tool[1] Base[0]

The robot moves to a intermediate waypoint (drop_waypoint) between the departure waypoint of picking and the approach waypoint of placing.

Adding intermediate waypoints can ensure smooth robot motion and avoid unnecessary collisions. You can add multiple intermediate waypoints according to the actual situation.
You need to teach the intermediate waypoint in advance. For information about how to teach the waypoint, see Teach Calibration Start Point in the calibration document.

Move the robot to the approach waypoint of placing

   ;move to approach waypoint of placing
LIN drop_app Vel=1 m/s CPDAT2 Tool[1] Base[0]

The robot moves from the intermediate waypoint to the approach waypoint of placing (drop_app).

Adding approach waypoints of placing can prevent the robot from colliding with objects (such as bins) in the scene when moving.
You need to teach the approach waypoint of placing in advance. For information about how to teach the waypoint, see Teach Calibration Start Point in the calibration document.

Move to the placing waypoint

   ;move to placing waypoint
LIN drop Vel=0.3 m/s CPDAT3 Tool[1] Base[0]

The robot moves from the approach waypoint of placing to the placing waypoint (drop).

The placing waypoint should be located at a safe distance from other stations, personnel, and equipment, and should not exceed the robot’s maximum reach.
You need to teach the placing waypoint in advance. For information about how to teach the waypoint, see Teach Calibration Start Point in the calibration document.

Set DOs to perform placing

   ;add object releasing logic here, such as "$OUT[1]=FALSE"
   halt

After the robot moves to the placing waypoint, you can set a DO (such as “$OUT[1]=FALSE”) to control the robot to use the tool to perform placing. Please set DOs based on the actual situation.

halt indicates to pause the program execution. If you have added a statement to set a DO, you can delete the halt statement here.

Move the robot to the departure waypoint of placing

   ;move to departure waypoint of placing
LIN drop_app Vel=1 m/s CPDAT2 Tool[1] Base[0]

The robot moves from the placing waypoint to the departure waypoint of placing (drop_app).

Adding departure waypoints of placing can prevent the robot from colliding with objects (such as bins) in the scene when moving.
You need to teach the departure waypoint of placing in advance. For information about how to teach the waypoint, see Teach Calibration Start Point in the calibration document.

Move to the home position

   ;move back to robot home position
PTP HOME Vel=100 % DEFAULT

The robot moves from the departure waypoint of placing to the home waypoint again.

You should teach the home position in advance. For detailed instructions, see Teach Calibration Start Point in the calibration document.

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