ECE 470

Introduction to Robotics
Lab Manual Spring 2022

Dan Block
Neeloy Chakraborty
Peixin Chang
Dhruv Mathur
Chuyuan Tao

University of Illinois at Urbana-Champaign

UR3 Python - ROS Interface
Preface

This is a set of laboratory assignments designed to complement the introductory

robotics lecture taught in the College of Engineering at the University of Illi-
nois at Urbana-Champaign. Together, the lecture and labs introduce students
to robot manipulators and computer vision along with the Robot Operating
System (ROS) and serve as the foundation for more advanced courses on robot
dynamics, control and computer vision. The course is cross-listed in three de-
partments (Electrical & Computer Engineering, Aerospace Engineering, and
Mechanical Science & Engineering) and consequently includes students from a
variety of academic backgrounds.

For success in the laboratory, each student should have completed a course
in linear algebra and be comfortable with three-dimensional geometry. In addi-
tion, it is imperative that all students have completed a freshman-level course in
computer programming. MODERN ROBOTICS MECHANICS, PLANNING,
AND CONTROL (Kevin M. Lynch and Frank C. Park, 2017) is required for the
lectures and will be used as a reference for many of the lab assignments. We
will hereafter refer to the textbook as MR in this lab manual.

These laboratories are simultaneously challenging, stimulating, and enjoyable.

It is the author’s hope that you, the reader, share a similar experience.

Enjoy the course!

LAB 1

Introduction to the UR3

1.1 LAB 1 Week One

1.1.1 Important
Read the entire lab before starting and especially the “Grading” section as there
are points you will receive by completing certain sections or checkpoints by the
end of the lab session(s).

1.1.2 Objectives
The purpose of this lab is to familiarize you with the UR3 robot arm and its
industrial programming interface called the teach pendant. In this lab, you will:
• Learn how to turn on and activate the UR3, and work with the teach
pendant to create a simple program for the UR3

• Use the teach pendant to turn on and off the suction cup gripper and use
the gripper in a program
• Demonstrate a sequence of motions that places one block on top of an-
other.

1.1.3 References
• UR3 Owner’s Manual:
https://www.universal-robots.com/download/manuals-cb-series/us
er/ur3/315/user-manual-ur3-cb-series-sw315-english-internatio
nal-en/
• UR3 Software Manual:
https://www.universal-robots.com/download/manuals-cb-series/so
ftware/314/software-manual-cb-series-sw314-english-us-en-us/

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1.1. LAB 1 WEEK ONE

• Universal Robots Academy

https://academy.universal-robots.com/free-e-learning/e-series-
e-learning/e-series-core-track/

1.1.4 Pre-Lab
Before you come to lab it is very important that you go through the training
videos found at Universal Robots website https://academy.universal-robo
ts.com/free-e-learning/e-series-e-learning/e-series-core-track/.
These training sessions get into some areas that we will not be using in this
class (for example you will not be changing safety settings), but go through all
of the assignments as they will help you get familiar with the UR3 and its teach
pendant. You also may want to reference these sessions when you are in lab.

1.1.5 Task
Using the teach pendant, each team will “program” the UR3 to pick and place
blocks. The program may do whatever you want, but all programs must check
three predefined locations for two blocks and stack one block on top of another
at a fourth predefined position. You will use the gripper’s suction feedback to
determine if a block is located at one of the three starting block locations. The
blocks must be aligned with each other in the stack of two.

1.1.6 Procedure
1. The Pre-Lab asked you to go through the basic UR3 training at Universal
Robots website. This training should have shown you how to make simple
programs to move the UR3. Initially your TA will demonstrate how to turn
on and enable the UR3 as well as how to use the emergency stop button.
Then use this lab time to familiarize yourself with the UR3 robot. First
play around with simple programs that move the robot between a number
of points.

2. To turn on the suction for the suction cup gripper, Digital output 0
needs to be set high. Set low to turn off the suction. Also Digital input
0 indicates if the suction cup is gripping something. It will return 1 if it
is gripping an object and 0 if not. Modify your above program (or make
a new one) to add activating on and off the suction cup gripper.

3. Create a program that defines four spots on the robot’s table. Three of
these spots are where it is possible a block will be initially located and
with a certain orientation. There will only be two blocks. The user will
place the blocks in two of the positions. The goal for the robot is to
collect the two blocks and stack them on top of each other in the fourth
define place on the robot’s table. So you will need to use the suction cup
gripper’s feedback that indicates whether an object is being gripped or

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1.1. LAB 1 WEEK ONE

not. Then with some “If ” instructions complete this task such that the
user can put the two blocks in any of the three starting positions. When
you are finished, you will demo your program to your TA showing that
your program works when two blocks are placed and aligned in the three
different configurations, and also does not have a problem if only one block
or even no blocks are placed at their starting positions. Tips for creating
this program:
• To turn on the suction cup, use the Set command and select Digital
Output 0 and turn it on or true. Set it to off or false to turn off the
suction.
• Digital Input 0 indicates if something has been gripped by the
suction cup. Go to the I/O tab and turn on and off Digital Output
0 and check which state of Digital Input 0 indicates gripped and
upgripped.
• In the Structure tab under Advanced besides “If ... else”, you may
also want to use the Assignment to create a global worker variable
that, for example, stores the number of blocks collected. In addition
the SubProg item creates a subroutine that you may call when
performing the same steps. The subroutine’s scope allows it to see
the variables you create with the Assignment item.
• You may want to name your Waypoints. This makes your program
easier to read. In addition if the robot needs to go to the same point
multiple times in your program you can command it to go to the
same waypoint name.
• Under the Structure tab you can use the Copy and Paste buttons
to copy a line of code and past it in a different subsection of your
code. This cuts down on extra typing. Also note the Move up and
down buttons along with the Cut and Delete buttons. Suppress
is like commenting out a line of code.
• When you add an “If ” statement and then click on the Command
tab, tap in the long white box to pull up the keyboard for entering
the if condition.

4. Demo this working program to your TA. Your TA may ask you to improve
your positioning if the stack does not end up aligned well.

1.1.7 Report
None required. Look at Lab 1 Week Two and Start the longer reading assign-
ment for Lab 2’s pre-lab.

1.1.8 Demo
Show your TA the program you created.

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1.1. LAB 1 WEEK ONE

1.1.9 Grading
• 2.5 points, attendance.
• 47.5 points, successful demonstration.