I N T R O D U C T I O N

Introduction 1

EASY-ROB™ is a powerful, comprehensive modeling and

simulation tool, to create high quality and high speed rendered
images for animation of 3D Scenes. Processes from the
robotics and mechanical engineering field are programmed and
visualized immediately. The program is a 32-bit Microsoft
Windows® application using the Microsoft Foundation Classes
(MFC) and the capabilities of OpenGL™. It is especially
designed to fulfill requirements for several industrial robotic
applications and for the small industry. EASY-ROB™ is as well
as especially designed for educational purposes.
The most important benefit of EASY-ROB™ is the individual
adaptability, for a various number of technical purposes.

Applications

EASY-ROB™ is used in a wide range of automatization fields.

Typical applications for EASY-ROB™ are,

• Layout Planning
• Programming of processes
Offline Programming
• Visualization of mechanical system
(Robots, NC machines)
• Feasibility studies
• Virtual test
• Assembly processes
• Training and educational purposes
• Research and development
• Sales support and sales improvement

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BASIC - Overview
EASY-ROB™ BASIC module allows the planning and design of
robotic workcell layouts consisting of a robot, tool and
environment. A simple 3D CAD system is provided to create
basic geometric parameterized primitives like cubes, cones,
cylinders, pyramides, etc.. In addition a CAD interface is
available to import other 3D formats such as STL format (binary
ans ascii). Created and imported geometries are assigned to
the robot group to active or passive joints, to the tool group or to
the environment group. Using a 3 button mouse, each geometry
can be translated and rotated about its axis, as well as entering
absolute or relative cartesian values to set the cartesian
location. A modification of the view point (pan, tilt, zoom in and
zoom out) in full shaded mode allows various world views. The
robot motion can be programmed using the commands givin
with the EASY-ROB™ Program Language ERPL. A special
Teach Window supports the user to create robot motion
programs. The built-in motion planner is implemented for the
motion types: Point to point (PTP), Linear (LIN) and Circular
(CIRC). The orientation interpolation for the LIN and CIRC
motion type is realized for different modes, such as variable, fix,
tangential and quaternion. Several online output windows
allows to view and monitor robot joint values, cartesian TCP
location as well as simulation states such as cycle time, step
size, override, etc.. All data (workcell, robot, tool, body, view
and program files) saved into documented ASCII text files,
which allows the user to edit with every standard editor, such as
notepad.

ERCL - EASY-ROB Command Language

The ERCL (EASY-ROB Command Language) is an extension
of the EASY-ROB Programming Language available in the
BASIC Module. ERCL allows it to automate nearly all user
interactions inside a robot program. Examples are: Switch
ON/OFF the TCP trace, collision, TCP coorsys, load another
view, render bodies to flat, wire or invisible, set a new color,
change the simulation step size or the motion planner step size,

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move bodies, define and move body lists, move the robots
base, etc.

COLL - Collision Detection

The collision detection allows to check collision between the
robot, tool and the environment bodies during simulation. The
collision is checked between the following groups:

- Tool group (attached to the robots tip) and the robot group,
- Tool group and environment group loaded in the workcell
- Robot group and environment group
- Grabbed environment group and the robot group
- Grabbed environment group and not grabbed environment
group.

The collision is checked during jogging of the robots TCP,

moving the robots joints and during program execution. Collided
geometries highlighted in different colors. The shortest distance
is calculated and visualized by a red colored line. The collision
can be enabled and disabled by the user at any time during
simulation and through a program using the ERCL. The
hierachical collision detection algorithm is fast and powerful.
This functionality is useful to verify the robot program and the
robot motion.

LIBRARY - Robot Library

The library inside EASY-ROB™ gives the user the ability to
store workcells, robots, tools, and accessories (environment
bodies) with an Image and a description in a library. This visual
file interface makes it easier to organize your project files. The
basic library contains some workcells, robots, tools and useful
accessories.

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ROBMOD - Robot Modeling

The robot modeling functionality allows it to modify and create
new robot kinematics. 5 different kinematics types are available.
RRR:RRR standard robot type with 6 degrees of freedom
(DOF). All joints are revolute. The RRR:RRR Back Link robot
type where joint 2 and joint 3 are coubled by a so called Back
Link. The TTT:RRR Simple robot type with 3 translational joints
and 3 revolute joints.
The solution for the inverse kinematics problem for these three
robot types is analytical solved and complete parameterized by
the robot kinematics lengths. Automatic generated default
geometries allow a fast prototyping. Yellow colored coorsys
visualize the joint directions. Each robot is represented by
attributes such as homeposition, travel range, maximum joint
speeds and accelerations, etc.
Two additionally robot kinematics "Variable" types are available
to modell non standard robot kinematics with less or more than
6 DOF. The first type can be described in "Universal
Coordinates" up to 12 DOF for active and passive joints. Using
the universal type, it can be defined wether the joints are
rotational or translational in/about X,Y or Z direction. The
second variable type is based on the well known notation
Denavit Hartenberg Parameters (DH). The mathematical
description is semilar to the universal coordinates, but is
restricted by translation and rotation in/about Z-direction. To
move the TCP of these variable robot types in cartesian space
with respect to the robots base a user defined solution for the
inverse kinematics is required using the application program
interface (API). EASY-ROB™ APIKIN or NUMSOL for DH
kinematics.

NUMSOL – Numerical Solution

EASY-ROB NUMSOL is used when a robot kinematics is
created based on Denavit Hartenberg (DH) Parameters. The
Numerical Solution for the inverse kinematics solution
calculates the joint values for the TCP location with respect to
the robots base. All joints can be weightend. A mask vector

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blanks out cartesian directions. A translational and rotational

tolerance value influences the accuracy of the result and the
number of iterations. NUMSOL is especially useful for robot
with more or less than 6 DOF.

API - Application Program Interface

API-INV - Inverse Kinematics

The API for inverse kinematics is used when a robot kinematics

is created based on Universal Coordinates or Denavit
Hartenberg (DH) Parameters. The API for inverse kinematics
allows to develop user defined functions written in C to solve
the inverse kinematics problem. Many exported functions give
full access to all robot data, i.e. kinematic robots lengths,
software travel ranges, joint directions, tool frame, TCP
location, etc. Mathematical routines to handle homogeneous
transformation matrices are available as well as trigonometrical
functions for angle, triangle and trapezoid calculations. A
project for the Microsoft™ Visual C++ Compiler is available and
will generate the Dynamic Link Library (DLL) er_kin.dll.
Inside this Dll, different solutions are kept.

API-IPO - Motion Planner

In a semilar way as for the inverse kinematics solution, an

Application Program Interface (API) for the motion planning
respectively the interpolator exist. The build-in motion planning
routines inside the EASY-ROB BASIC module implemented for
the point to point (PTP) and continuous path (CP) motion type.
The continuous path motion type covers linear (LIN) and
circular (CIRC) motion. The API for the motion planning allows
it to develop user defined functions written in C for the motion
types PTP, LIN and CIRC. Before the robot moves to its new
target location, the preparation routine, which returns the
required motion time for that move is called. Afterwards,
supposed the preparation was successful, the execution routine
is called every interpolation step size to calculate intermediate
locations for the robots TCP. Many exported functions give full
access to the current motion planning values such as
programmed speeds and accelerations. Mathematical routines
to handle homogeneous transformation matrices are available.

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A project for the Microsoft Visual C++ Compiler is available and

will generate the Dynamic Link Library (DLL) er_ipo.dll.
Inside this Dll, different routines for the motion types PTP, LIN
and CIRC are kept.

API-DYN - Dynamics

The Dynamics functionality allows to consider the dynamic

model of the robot and the position controller during simulation.
The build-in dynamics routine for the dynamic robot model uses
a simple uncoupled 1st order model in the discrete z-space
defined by the inertia, the viscous friction and the gear ratio for
each joint. Based on the system step the discrete model is
calculated. The build-in position controller is represented by the
well known PPI Cascade Controller with pseudo analog PI
velocity controller. During the robots motion a green trace
shows the desired TCP location and a red trace the actual
location of the robots TCP. An output window shows the errors
in joint and cartesian space at any time. The Application
Program Interface (API) for Dynamics allows to develop user
defined functions written in C for the dynamic robot model and
the position controller. Herein it will be possible to consider the
real non linear coupled model of the robot and use an
integration algorithm such as Runge Kutta to solve the inverse
dynamic modell. Furthermore, a special position controller such
as an adaptive or a robot modell based controller can be
implemented. Many exported functions give full access to the
robot attributes as well to the parameter for the position
controller. Mathematical routines to handle homogeneous
transformation matrices are available. A project for the
Microsoft Visual C++ Compiler is available and will generate the
Dynamic Link Library (DLL) er_dyn.dll. Inside this Dll,
different routines are kept for an easier comparison of different
controller.

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Hardware Requirements

• IBM compatible Pentium PC

• Windows® 9x, NT, 2000 or XP

• 128MB (256MB for NT, 2000, XP recommended)

• less than 64MB hard disk space

• No special graphics cards are required, but Graphic

accelerator boards will enhance the performance
significantly

EASY-ROB™ and other programs

3D CAD

EASY-ROB™ has a simple 3D CAD functionality, which allows

it to create primitives, such as a parameterized cube, wedge,
cone, cylinder, pyramide and sphere. An interface to import 3D
polygon geometries from other 3D CAD programs is available
for the STL format (binary and ascii) and for the IGRIP®
www.delmia.com partfile format up to version 14.
A very powerful 3D CAD program is Rhinoceros® from Robert
McNeel & Associates www.rhino3d.com. Rhinoceros® is a 3D
NURBS modeling program for Windows and has the capability
to polymesh a selected solid and export it to a binary STL files,
which can be imported into EASY-ROB™. A direct import
interface for polymeshed 3dm files is planned. The imported
geometries are scaled in X, Y and Z direction and colored
inside EASY-ROB™.

Offline Programming

EASY-ROB™ is a simulation tool for robots, NC machines and

other applications. To create work piece oriented programs for
robots or NC machines, an Offline Programming Tool such as
FAMOS® or an CAD/CAM System is needed.

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FAMOS robotic©, a property of the carat robotic innovation

GmbH www.carat-robotic.de, is a work piece oriented
programming tool for industrial robots and used for process
optimization. It is conceived both for use on site as well as for
work preparation, and offers a Microsoft-Windows® (95/98/NT)
standard user interface. A postprocessor in FAMOS© creates
programs for EASY-ROB™ in the ERPL-Syntax. This allows to
simulate and verify the process before downloading into the real
robot controller. FAMOS© has the capabilities to generate
programs for other robot controller, such as ABB S3/S4, Kuka
KRL, Stäubli, Fanuc and Reis.

Technical Support
In case you have any questions regarding the usage of
EASY-ROB™, please feel free to contact.

Support is available via e-mail or telephone.

E-mail: [email protected]

Telephone: +49 (0) 69 677 25 622

EASY-ROB™ offers also consulting for individual technical

needs.

• Machine or robot modeling

• NC-Code adaption
• Modeling of miscellaneous. kinematic devices/chains
• 3D CAD
• Offline programming

Contact: [email protected]

Telephone: +49 (0) 69 677 24 287

Telefax: +49 (0) 69 677 24 320

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