Raspberry Pi camera for pick and place

Technical Questions Robot Communication
1

Hello,

I am using a Raspberry Pi camera for 3D printer to take images of printed parts, and according to images, I want the robot to pick up the parts directly from the 3D printer.
I don’t want to buy the expensive gripper from Robotiq, which comes with a camera.

Any suggestions that I can send images from Raspberry Pi camera to UR3e?

Regards
Sumedh Kirve

2

Hi Sumedh

Let the Raspberry Pi analyze the images and calculate the pickup point.
Send this information via WiFi to a “Connection PC” (Windows 10 pro).
Send the info on to the UR controller via RTDE.

I’m using in this setup here: https://vimeo.com/908762499/798a04ae5b

How to set up RTDE:

Free tools for your project:

Enjoy
Henning

3

Hello Mr. Henning,

Thank you so much for your guidance.

Did you use OpenCV for capturing images?

I went through the website, and the tools are really great for cobots.
I wanted to buy a gripper, which is sufficient to pick 3D printed parts directly from the print bed.
Are the tools from 4TECH Robotics ApS can be delivered to Germany?

Regards
Sumedh

4

Hello Sumedh

Yes, the program for the Selfie Aligner is based on OpenCV
Images are captured from a video stream.

4TECH Robotics ApS only produce and sell the Kelvin Tool Changer.
Delivery to Germany is no problem.

The tools are Open Source Hardware, That is, you are free to copy and print your own tools from the files online.
It is also possible to buy the 3D printed parts from Shapeways but you must source the hardware parts yourself.

A gripper for your project could be the “Two Finger Gripper”
It is based on a small pneumatic gripper from SMC
CAD-files, BOM and video here:

Best regards
Henning

5

Hello Mr. Henning,

Thank you for your support.

I will see how I can implement the gripper you offered.

Regards

Sumedh Kirve

6

Hello Mr. Henning,

Could you please tell me, how you connected a Windows computer to UR controller?

Regards
Sumedh Kirve

7

Hello Sumedh

I have set up a Real Time Data Exchange (RTDE) between the Windows PC and the UR controller.
Here is a guide:

Best regards
Henning

8

Hello Mr. Henning,

Okay. Understood.

Regards
Sumedh