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====== Introduction to RB5 ======
**Author:** <Yu Hang He> Email: <hey6@unlv.nevada.edu> <!-- replace with your email address -->
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**Date:** Last modified on <06/14/19>
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**Keywords:** RB5 manipulator, RB5 GUI tutorial, RB5 setup tutorial, collaborative robot
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The photo above depicts RB5, collaborative robot developed by Rainbow Robotics, which allows you to improve production efficiency without using numerous safety device. The RB5 have collision detection built in that allows it to work collaboratively with human. The precision and power of RB5 make it suitable for industrial application. This tutorial shows you how to setup RB5 and accomplish basic operations and takes approximately 2 hours to complete. 
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===== Motivation and Audience =====

This tutorial's motivation is to demonstrate how to setup and operate RB5. Readers of this tutorial assumes the reader has the following background and interests: 

<fc blue>  
  * Have prior experience with robotic manipulator
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  * Some basic knowledge on the kinematic of manipulator
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  * Understand the limitation and danger of working with machinery
</fc>
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The rest of this tutorial is presented as follows:
  * [[rb5_intro#parts_identification|Parts Identification]]
  * [[rb5_intro#initail_setup|Initial Setup]]
  * [[rb5_intro#gui_tutorial|GUI Tutorial]]
  * Final Words

==== Parts Identification ====
=== Components ===
The following items are included within RB5 system
  * RB5 manipulator
  * Control panel (control box)
  * Emergency stop switch and cable
  * Power Cable
  * Robot arm control panel connection cable
  * (Optional) Teaching Pendant (Tablet)
=== RB5 Manipulator ===
  * **1 Base**
  * **2 Base Joint**
  * **3 Shoulder Joint**
  * **4 Elbow Joint**
  * **5 Wrist 1 Joint**
  * **6 Wrist 2 Joint**
  * **7 Wrist 3 Joint**
  * **8 (Tool Flange) End-effector**
  * **1 Teaching switch: Allow RB5 to be freely moved**
  * **2 Tool Flange: Allow mounting of tool**
  * **3 Tool I/O: Communication I/O for tool**
  * **4 Base: Secure manipulator**
  * **5 Robot control panel connection: connection port between robot and control panel** 
=== Control Panel (Control Box) ===
  * **1 Power Switch**
  * **2 Reset Switch**
  * **3 48V Switch**
  * **4 USB Ports**
  * **5 LCD**
  * **6 LAN**
  * **7 AC Power Socket**
  * **8 Robot Arm Connection**
  * **9 EMO**
  * **10 I/O Ports**
==== Initial Setup ====
Before connecting cables, make sure that the power switch is in off position.
  * **Step 1** Connect the AC power cable to the AC power Socket
  * **Step 2** Connect the communication cable between the robot and control panel. Connect the other end of the communication cable to the base of the robot manipulator
  * **Step 3** Connect the two emergency switch to the the 48V Switch ports in the front of the control panel and EMO on the back of the control panel. Both emergency switch must be connected for the robot to operate. The redundant emergency switch are by design to ensure that there will always be a method to stop the robot in case of emergency. Make sure that both emergency switch are in stop position before turning on the power on control panel.
  * **Step 4** Connect the Teaching Pendant to the control panel through USB port.
The robot manipulator are now ready for operation.
==== GUI Tutorial ====

A link to the source code can be found <provide URL to your code, probably saved in this DASL Wiki>.
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The goal of the code is <brief explanation>.  It works in the following way
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The snippet above serves to <fill in the blank>. It does this by <fill in the blank>.
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<!- Insert another snippet of your code here.  Try to keep to less than 0.5 page long -->
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Next, the code does <fill in the blank>.  It does this by <fill in the blank>.  
<!-- Keep entering snippets of code and descriptions until you've given enough for a reader to understand how it works -->
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==== Final Words ====

This tutorial's objective was to <fill in the blank>. Complete <choose: construction details, source code and program descriptions> for <fill in the blank>. Once the concepts were conveyed the reader could <fill in the blank>.
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Speculating future work derived from this tutorial, includes <fill in the blank>. In the big picture, the problem of <fill in the blank> can be solved with this tutorial.
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For questions, clarifications, etc, Email: <paul.oh@unlv.edu>