My project involves developing an innovative application that enables users to teach a Universal Robot how to move. During the process of connecting a welder machine to the robot, I discovered that it was difficult to set up the robot to weld objects that were not straight. This led me to come up with the idea of creating an application that would allow users to teach the robot how to move in order to weld complex shapes with greater precision.

Using the application is simple: users press the 'Record' button, move the robot arm in freedrive mode, and the application records the positions of the joints. Once the user has finished teaching the robot, they press the 'Stop' button. The application then creates a subprogram in URScript in the background. When the user hits 'Play', the robot moves exactly as it has been taught.

Following Path - Path Recording

During the coding, I found out that the URCaps API did not provice any method to get the current positions of the joints or tool. I have to get those numbers by communition via TCP/IP.

Using TCP/IP communication was worked, but I found out another issue. The respond time is too long, so it not return all the movement joints. I think the probem was the time to run each thread is 0.008 seconds, there are many threads run at the same time so it will delay my script to return the position of the joints. In other to record more precise, user have to move the robot arm very slowly.

To address this issue, I implemented a solution that required users to move the robot arm very slowly in order to record more precise movements. While this may add a slight delay to the teaching process, it ensures that the application is able to capture all necessary joint positions, resulting in more accurate and reliable movements when the robot is put into action.

While working on my project to develop an application that would enable users to teach a Universal Robot how to move, I encountered a number of challenges. For one, the robot arm at my schoolhouse was an older version that lacked certain features, such as the ability to lock some joints during freedrive mode. This made it difficult to move all the joints smoothly and implement my idea effectively. As a result, I used this project as a learning experience to better understand the capabilities and limitations of the robot arm.

Throughout the project, I gained valuable insights into how the robot arm operates and the underlying principles that govern its behavior. I also learned that each Robot Arm brand has its own Script to run the robot, and that most robot arms can be controlled using TCP/IP communication methods. Despite the challenges I faced, I was able to successfully develop a functional application that could record and replicate movements in real-time.

Based on the experience gained from this project, I applied the knowledge to my next project, which involved connecting the robot arm to a welding machine to 3D print metal. This project was much more successful, thanks in part to the lessons I learned while working on the Universal Robot application. Overall, I believe that my work on this project has given me a solid foundation in robotics and positioned me well for future success in the field.

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