6-Axis Robotic Arm Twin Kuka KR5-R850

Setup Instructions
x: {{handPosition.x}}
y: {{handPosition.y}}
z: {{handPosition.z}}
contact: {{gripperHasContact}}
Detection Camera
Plate Temperature: {{platformTemperature}}
Pickup Camera

Testing Rig
— {{context.testingRigState.name}}

KR5-R850
— {{context.roboticArmState.name}}

Conveyor
— {{context.conveyorState.name}}

Controls

Ready to pick Ready to pick Approach Approach Pickup Pickup Park Test Rig Park Test Rig Release Release Idle Idle Deposit Green Deposit Green Park Red Park Red Park Green Park Green Deposit Red Deposit Red
Joint Current Target
Base {{basePosition}}
Main Arm {{mainArmPosition}}
Forearm {{secondArmPosition}}
Wrist {{wristPosition}}
Gripper {{gripperPosition}} has-contact
Slider {{sliderPosition}}
Adjuster {{adjusterPosition}}
Platform {{platformPosition}}

Sensor Monitors

Monitor 1: Main Arm

Real-time sensor measurements.

Work Item Information

ID {{qrCode.id}}
Batch-ID {{qrCode.batchId}}
Color {{qrCode.color}}
URL {{qrCode.id}} http://cdl.io/{{qrCode.id}}

Read current item info contained in the QR code, currently scanned by the testing rig.

Camera Signals

Detection Camera

Pickup Camera

The camera images of the two cameras mounted on the unit.

Project description

This CDL-MINT project explores technologies for the model-integrated development and monitoring of production systems. This includes the simulation of a 3D robotic arm model in Blender GE, a MQTT message pipeline, a controller that runs on a server and the dashboard that can be seen above. A detailed description of the setup can be found on GitHub.