Workshop Michigan 24. and 25.02.2020

This workshop is about robotic assembly using the COMPAS framework.

Overview

• Python programming
• Code management
• COMPAS 101
• COMPAS FAB Intro
• Kinematics and path planning
• Attach/detach tools
• Pick and Place planning
• Brick assembly
• Robot control overview

Examples

Day 1

• Slides: session 1
• Documentation:
  • COMPAS API Reference
  • COMPAS FAB API Reference

Robotic fundamentals

• Frame examples:
  • Several ways to construct a Frame
  • Point in Frame
  • Frame in Frame
  • Bring a box from the world coordinate frame into another coordinate frame
  • Use artists to draw the box in Rhino
• Transformation examples:
  • Several ways to construct a Transformation
  • Inverse transformation
  • Pre-multiply transformations
  • Pre- vs. post-multiplication
  • Decompose transformation
  • Transform Point and Vector
  • Transformation of multiple points
  • Change-basis transformation vs. transformation between frames
  • Bring a box from the world coordinate frame into another coordinate frame
  • Use artists to draw the box in Rhino
• Rotation examples:
  • Several ways to construct a Rotation
  • Different Robot vendors use different conventions to describe TCP orientation
  • Euler angles example
  • Axis-angle example
  • Unit Quaternion example

Robot model and ROS

• Docker configuration to launch ROS & MoveIt
• Open MoveIt! in your browser (once the UR5 docker compose has been started)
• Basic examples:
  • Programatically define a robot
  • Load robots from Github
  • Load robots from ROS
  • Visualize robots in Rhino
  • Visualize robots in Grasshopper
  • Build your own robot
• Basic ROS examples:
  • Verify connection
  • The cannonical example of ROS: chatter nodes
    • Talker node
    • Listener node
• Examples of ROS & MoveIt planning with UR5:
  • Forward Kinematics
  • Inverse Kinematics
  • Cartesian motion planning
  • Free space motion planning
  • Planning scene management:
    • Add objects to the scene
    • Append nested objects to the scene
    • Remove objects from the scene
• Grasshopper Playground

Day 2

• Slides: session 2
• Documentation:
  • COMPAS API Reference
  • COMPAS FAB API Reference

Path planning and assembly processes

• Docker configuration to launch ROS & MoveIt
• Assembly Playground
• Attaching gripper/tool:
  • Attach tool to last link of the robot
  • Plan cartesian motion with attached tool
• Assembly elements (e.g. bricks):
  • Add assembly element to planning scene
  • Attach assembly element to gripper
• Pick and place examples:
  • Pick and place
  • Pick and place Stack

Requirements

• Minimum OS: Windows 10 Pro or Mac OS Sierra 10.12
• Anaconda 3
• Docker Desktop Docker Toolbox would also work but it's a bit more annoying. After installation on Windows, it is required to enable "Virtualization" on the BIOS of the computer.
• Rhino 6 & Grasshopper
• Visual Studio Code: Any python editor works, but we recommend VS Code + extensions as mentioned in our docs

Installation

Create conda environment:

(base) conda config --add channels conda-forge
(base) conda create -n um20 python=3.6 compas_fab=0.10 python.app --yes
(base) conda activate um20

Verify installation

(um20) pip show compas_fab
Name: compas-fab
Version: 0.10.2
Summary: Robotic fabrication package for the COMPAS Framework
...

Install on Rhino

(um20) python -m compas_fab.rhino.install

NOTE: This installs to Rhino 6.0, use -v 5.0 if needed.