Outros simuladores

• RoKiSim
• SimTwo
• Webots
• Gazebo
• Actin Simulation
• Microsoft Robotics Studio
• Unity
• Simspark
• MURoSimF
• V-REP (https://www.youtube.com/watch?v=bwGYUayglHY)
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RobotStudio
• Software de simulação da ABB
• Disponível para download (versão 6.04.01) em:
– http://new.abb.com/products/robotics/robotstudio/downloads

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Tutorial for manipulating 1 piece
• Objective:
1. move a piece from place A to place B

p_repouso

p4 p2

p3 p1

B A

2. Move the piece back to place A

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Creating a new project

• Create a new project:

– “New” > “Solution with Station and Robot Controller”
– Select “IRB_1410_5kg_1.44m” > “Create”

• CTRL+wheel: to
zoom +/-
• CTRL+right
button: to move
the cell’s view
• CTRL+SHIFT+
left button: to
rotate the cell’s
view

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Page 11
Creating the model of the cell
• Include the metallic sheet (pedestal) where the robot is
located:
– “Import geometry” > “User Geometry” > Select the “Pedestal Robot”
(or selecting the file “pedestal.SAT” in the folder
“documentos\RobotStudio\Geometry”)

• Move the robot to the center of the pedestal:

– Right click in the robot object (menu layout in the left side of screen)
– “Position” > ”Set Position”
– “Snap Center” > put the cursor in the
field XX of the “Set Position” area
– Right click in the “pedestal” object > “Apply”

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Creating the model of the cell (2)

• Include the perforated metallic sheet:
– “Import geometry” > User Geometry” > Select “chapa”
(or selecting the file “chapa.SAT” in the folder
“documentos\RobotStudio\Geometry”)
– “Position” > ”Rotate” > 270º in ZZ (rotation)
– “Position” > ”Set Position” > -185 mm in XX (position)

• Include the gripper:

– “Import library” > User library > Select “SC_PINCA1”
– Right click in the “SC_PINCA1” object > “Disconnect Library”
– Move the PINCA1 object to the robot (in the layout menu)
(the gripper is automatically attached to the robot)
– To test the opening and closing of the gripper: right click in “SC_PINCA”
object > “Properties” > “abre_garra” or “fecha_garra””

• “Home” > “Graphics Tools” > “Settings” > “Reset Floor Size”
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Marking the points
• Moving the robot:
– Joint movement: right click > “Mechanism Joint Jog”
– Linear movement: right click > “Mechanism Linear Jog”

• Points are stored in “Workobject & Targets”!

• Define the rest point:
– Right click on the robot object > “Mechanism Joint Jog”
– Change the joints for: J1= -90, J5= 90, others = 0
– “TeachTarget” > OK
– Rename the point to “p_repouso”

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Marking the points (2)

• Add the piece in the model
– “Import geometry” > User Geometry” > Select “Peca”
(or selecting the file “peca.SAT” in the folder “documentos\RobotStudio\Geometry”)
– Right click in the “peca” object (menu layout in the left side of screen)
– “Position” > ”Set Position” > “Snap Center” > put the cursor in the
field XX of the “Set Position” area
– Right click in the “chapa” object > 800 mm in XX > “Apply”

• Define the point in the piece (p1):

– “Target” > Select “peca” object > “Create”
– Rename the point to “p1”
– Right click in “p1” > “Modify Target” > ”Set Position” > -15 mm in ZZ
– Verify if it is reachable: right click in “p1” > “Reachability”
– “If not “Copy orientation” of “p_repouso” and “Apply orientation” for “p1”
– Select “Configurations” and select one > “Apply”
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Marking the points (3)
• Define the approximation point to the piece (p2):
– “Copy” and “Paste” the point “p1”
– Change the name to “p2”
– “Modify Target” > “Offset Position” > -150 mm in ZZ
– Select “Configurations” and select one > “Apply”

• Define the target point in the floor (p3):

– “Copy” and “Paste” the point “p1”
– Change the name to “p3”
– “Modify Target” > “Set Position” > -400 mm in XX
– Select “Configurations” and select one > “Apply”

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Marking the points (4)

• Define the target approximation point to the piece (p4):
– “Copy” and “Paste” the point “p2”
– Change the name to “p4”
– “Modify Target” > “Set Position” > -400 mm in XX
– Select “Configurations” and select one > “Apply”

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Defining the paths
• Define the sequence of paths for the movement A  B:
– “Path” > “Empty path”
– Change the name into “path_a_b”
– Drag the sequence of points that define this movement into the “path_a_b”
path
– Right click in the “path_a_b” > “Move Along Path”

• Define the sequence of paths for the movement B  A:

– Execute the same previous procedure
– Change the name into “path_b_a”

• Create the main:

– “Path” > “Empty path”
– Change the name into “main”
– Drag the “path_a_b” and “path_b_a” into the “main” path
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Synchronizing with RAPID

• RAPID menu > “Synchronize to RAPID” (selecting all items)
• Verify the program in RAPID
• If necessary, we can modify the parameters in RAPID
– In this case, it is necessary to make “Synchronize Station” at the end

• Execute the simulation:

– Simulation > Play

• Save the RAPID program:

– “RAPID” > “Program” > “Save Program as” > …

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Page 15
Add functions to open and close gripper
• Add “abre_garra” and “fecha_garra” functions in the
RAPID code
• Add calls to “abre_garra” and “fecha_garra” in the
“path_a_b” and “path_b_a” paths
• Need to define the variables “DOabre” and “DOfecha”
– “Controller” menu > “Configuration Editor” > “I/O System”
– Right click in “Signal” > “New Signal” > introduce the parameter “DOabre”:
» Name: “DOabre”
» Type of signal: “Digital Output”
» Access Level: “All”
– Make the same procedure for “DOfecha”
– “Restart (warmstart)” the controller
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Logic to control the gripper

• Select SC_PINCA1
– Right click > “Edit Component”
– Select component “FechaPinca” > “Properties” > duration: 0,1 s; J1: 11 mm
– Make the same procedure for “AbrePinca” > duration: 0,1 s; J1: 0 mm
– Select “Attacher” component
» Parent: “SC_PINCA1/PINCA1”
» Child: “Peca” > “Apply”
– Select “Detacher” component
» Child: “Peca” > Apply
– Select “Design” menu in the “SC_PINCA1” panel
– Right click on “SC_PINCA1” object > “Save as Library”

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Page 16
Logic to control the gripper (2)
• “Simulation” > “Station Logic” > “Design” menu
– In the controller block > add “DOabre” and “DOfecha”
– Link “DOabre” to “abre_garra” block and “DOfecha” to the “fecha_garra”
block

• I/O simulator > “Filter” > “User List”

– Create a new list with the two
variables (“DOabre” and
“DOfecha”)

• Execute the simulation:

– Simulation > Play

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Showing the collisions

• In the “Simulation” menu > “Create Collision Set”

• Right click on “Collision_Set_1
• Drag “PINCA1” object to “ObjectsA” and “Chapa” object to
“ObjectsB”
• Use the “Freehand” > “Linear Jog” to move the robot and
test the collision!

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Exercises to be done:

• Manipulate a stack of 3 parts

• Manipulate a stack of n parts

• After simulating, test the programs in the real robot

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Other notes:

• Use “SC_PINCA” object that already has the PlanSensor

component: allowisto pick any piece
• Add the instructions TPReadNum, TPWrite, FOR ..THEN,
etc. directly in the RAPID code
• Select “Controller””VirtuaFlexPendent” to support the
interaction with the user
– Move PP to Main  “Enable” motors “Play”
– After pressing “emergency”: “Control Panel”  ”Push Motors Button”

Generate the code to be executed in real environment:

– “RAPID”  ”Program”  ”Save As …”

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