Setup¶
Hardware¶
The Vision wrist¶
Mounting Niryo One wrist (received before 30/06/2020)¶
Warning
If you own a Niryo One received after 30/06/2020 or a Ned, then you can skip this section and go to the next one Wrist
If you received your Niryo One before the 30/06/2020, please first replace its wrist by the upgraded one provided in the Vision Set:
Step 1. Remove the 4 screws of the motor |
Step 2. Remove the two screws of the wrist |
Step 3. Remove the nut |
Step 4. Take the motor off |
Step 5. Remove the screw |
Step 6. Disconnect the motor |
Step 7. Remove the two screws |
Step 8. Pull the connector to free the motor |
Step 9. Remove the two screws |
Step 10. Remove the nut and the screw |
Step 11. On the new wrist, put the cable through the hole |
Step 12. Put the screw in the wrist |
Step 13. Plug the motor and push the screw into it |
Step 14. Align the strokes of the motor. |
Step 15. Add the two screws |
Step 16. Put the two screws on the top of the motor |
Step 17. Add the nut, tighten it, and add the washer |
Step 18. Screw the connector in until |
Step 19. Align the connector as shown and |
Step 20. Connect the motor as shown |
Step 21. Put the screw in the wrist |
Step 22. Screw the nut |
Step 23. Align the strokes of the motor |
Step 24. Put the motor on the wrist and |
Step 25. Lock the system with two screws |
Common part - Wrist¶
Position the camera on the wrist, align the screw holes of the two parts and add the screws.
Niryo One |
Niryo One |
Ned |
Then, connect the camera to one of the USB ports of the robot and attach the cable to the arm with the provided scratches.
The Workspace¶
We designed for Ned’s Ecosystem a Mechanical Connector composed of an aluminum base for Ned and two bridges to connect a Workspace and a Conveyor Belt. This Mechanical Connector is included in the Vision Set. Assembling this mechanical structure allows the workspace and/or the Conveyor Belt to always keep the same relative position to Ned.
Also, the provided workspace is printed on a specific support which uses a nano-suction technology that makes it repositionable. This workspace can be used on flat, regular, and clean surfaces. Please note that the workspace can be cleaned with few drops of water if needed. Keeping the workspace upside-down for a long time could damage it and reduce its gripping properties.
Software¶
Please start the robot and connect to it with Niryo Studio.
Workspace creation¶
Before using the Vision functions, you need to define the workspace(s) you will use. You can save as many workspaces as you want so if you are using an already saved workspace, you do not have to execute the following process.
In Niryo Studio’s menu, open the Vision tab and click the button to add a new workspace. You will be guided, step by step, to set a workspace.
Hint
Be sure to point the markers correctly in the right order!
As you can use several workspaces in a same sequence, you can save as many workspaces as you need.
Hint
You can click on a marker to move the robot to the pose he had when this point has been registered. Be sure to have no tool attached to avoid collision