Pick and Place Example¶
Learning Objectives¶
After completing this tutorial, you will have learned:
- How to control a gripper
- How to use Lula Kinematics Solver for target following
- How to configure RMPFlow motion control
- How to implement a pick and place task
Getting Started¶
Prerequisites¶
- Complete Tutorial 8: Generate Robot Configuration File before starting this tutorial.
Estimated Time¶
Approximately 20-30 minutes.
Overview¶
In this tutorial, you will perform pick and place tasks using the UR10e robot and 2F-140 gripper. You will combine target following with the Lula Kinematics Solver and motion control with RMPFlow to manipulate objects.
Gripper Control Example¶
Learn the basics of controlling gripper open/close operations.
Follow Target with Lula Kinematics Solver¶
Learn how to follow a target using the Lula Kinematics Solver.
RMPFlow Configuration¶
Configure RMPFlow for motion control.
Follow Target with RMPFlow¶
Follow target example using RMPFlow.
Basic Pick and Place Task¶
Implement a basic pick and place task using RMPFlow.
Summary¶
This tutorial covered the following topics:
- Basics of gripper control
- Target following with Lula Kinematics Solver
- Motion control with RMPFlow
- Pick and place task implementation
Next Steps¶
Proceed to the next tutorial, "Rig Closed-Loop Structures", to learn advanced robot rigging techniques.