The Robotiq Adptive Gripper was recently implemented on an ABB robot using an ABB touch screen teach pendant. This project utilizes an ABB robot for a machine tending application with a Robotiq Gripper as the end-of-arm-tooling. Like any integration project, one of the first steps is programming the robot and its end-of-arm. A custom GUI (Graphical User Interface) on the touch screen pendant was created to simplify the usage of the teach pendant as demonstrated in this video:
The GUI has three main screens:
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Control: open & close commands, grip modes
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Satus: position of each finger
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Define: speed and force
The GUI also has an integrated acquisition interface used to monitor the current in each servo of the Adaptive Gripper. The architecture consists of using an ABB robot (IRB 120M2004) with an IRC5 Compact Controller and its touch screen pendant.
The main advantages of using this custom GUI are to:
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Simplify and reduce the total teaching time required for the robot
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Provide easy visual and portable control
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Have a tool dedicated to the Adaptive Gripper
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Use the GUI with any ABB robot with an IRC5 controller
The development of the touch screen GUI was done at the CoRo (Command and Robotics) Laboratory of Montreal by graduate Yanick Noiseux, under the supervision of Vincent Duchaine, Scientific Advisor at Robotiq and Professor at ETS.
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