Matlab script for RAPID equivalent commands
please note that variables should be
declared as global as in RAPID syntaxis
this script demonstrates the use of functions in the matlab script. This
script can be translated to RAPID by means of the matlab2RAPID script.
IN ORDER TO SIMULATE THE PROGRAM:
A) FIRST, LOAD A ROBOT
robot = load_robot('abb','irb140');
OR
robot = load_robot('abb','irb52');
B) NEXT, LOAD SOME EQUIPMENT.
robot.equipment = load_robot('equipment','tables/table_two_areas');
C) NOW, LOAD AN END TOOL
robot.tool= load_robot('equipment','end_tools/parallel_gripper_0');
D) FINALLY, LOAD A PIECE TO GRAB BY THE ROBOT
robot.piece=load_robot('equipment','cylinders/cylinder_tiny');
E) IF NECESSARY, CHANGE THE POSITION AND ORIENTATION OF THE piece,
relative to the robot's base reference system.
robot.piece.T0= [1 0 0 -0.1;
0 1 0 -0.5;
0 0 1 0.2;
0 0 0 1];
during the simulation, call simulation_open_tool; to open the tool and
simulation_close_tool; to close it.
To grip the piece, call simulation_grip_piece; and
simulation_release_piece to release it.
The call to each function must be in a correct, otherwise, the result may be
undesired, thus, typically the correct sequence is:
simulation_open_tool;
(approach the piece to grab with MoveL or MoveJ)
simulation_close_tool;
simulation_grip_piece; --> the piece will be drawn with the robot
move to a different place with MoveJ or MoveL
simulation_open_tool;
simulation_release_piece
In RAPID, consider the use of ConfJ on, or ConfJ off, or ConfL on, or ConfL off
in the case the controller avoids the change of configurations between target points0001 % Matlab script for RAPID equivalent commands 0002 % please note that variables should be 0003 % declared as global as in RAPID syntaxis 0004 % this script demonstrates the use of functions in the matlab script. This 0005 % script can be translated to RAPID by means of the matlab2RAPID script. 0006 % 0007 % IN ORDER TO SIMULATE THE PROGRAM: 0008 % A) FIRST, LOAD A ROBOT 0009 % robot = load_robot('abb','irb140'); 0010 % OR 0011 % robot = load_robot('abb','irb52'); 0012 % B) NEXT, LOAD SOME EQUIPMENT. 0013 % robot.equipment = load_robot('equipment','tables/table_two_areas'); 0014 % 0015 % C) NOW, LOAD AN END TOOL 0016 % robot.tool= load_robot('equipment','end_tools/parallel_gripper_0'); 0017 % D) FINALLY, LOAD A PIECE TO GRAB BY THE ROBOT 0018 % robot.piece=load_robot('equipment','cylinders/cylinder_tiny'); 0019 % 0020 % E) IF NECESSARY, CHANGE THE POSITION AND ORIENTATION OF THE piece, 0021 % relative to the robot's base reference system. 0022 % 0023 % robot.piece.T0= [1 0 0 -0.1; 0024 % 0 1 0 -0.5; 0025 % 0 0 1 0.2; 0026 % 0 0 0 1]; 0027 % 0028 % during the simulation, call simulation_open_tool; to open the tool and 0029 % simulation_close_tool; to close it. 0030 % 0031 % To grip the piece, call simulation_grip_piece; and 0032 % simulation_release_piece to release it. 0033 % 0034 % The call to each function must be in a correct, otherwise, the result may be 0035 % undesired, thus, typically the correct sequence is: 0036 % simulation_open_tool; 0037 % (approach the piece to grab with MoveL or MoveJ) 0038 % simulation_close_tool; 0039 % simulation_grip_piece; --> the piece will be drawn with the robot 0040 % 0041 % move to a different place with MoveJ or MoveL 0042 % simulation_open_tool; 0043 % simulation_release_piece 0044 % 0045 % In RAPID, consider the use of ConfJ on, or ConfJ off, or ConfL on, or ConfL off 0046 % in the case the controller avoids the change of configurations between target points 0047 0048 function practice_1_programming 0049 global robot TD_gripper RT_initial RT_approach1 RT_grip RT_approach2 RT_release 0050 0051 %init the position of the piece at the beginning of the simulation 0052 robot.piece.T0(1:3,4)=[-0.1 -0.5 0.2]'; 0053 %robot.tool.piece_gripped=0; 0054 drawrobot3d(robot, robot.q); 0055 0056 0057 %define the tool 0058 %In RAPID this is done by means of the tooldata structure 0059 TD_gripper=[1,[[0,0,0.125],[1,0,0,0]],[0.1,[0,0,0.100],[1,0,0,0],0,0,0]]; 0060 0061 %define target points FOR SIMULATION 0062 RT_initial=[[0.5,-0.4,0.5],[0.427269,0.289111,0.844060,-0.146350],[-1.000000,0.000000,-1.000000,0.000000],[9E9,9E9,9E9,9E9,9E9,9E9]]; 0063 RT_approach1=[[-0.1, -0.5, 0.4],[0.0, 0.70711, 0.70711, 0.0], [-1.00000, -1.00000, 0.00000, 0.00000], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0064 RT_grip=[[-0.1, -0.5, 0.28],[0.00000, 0.70711, 0.70711, -0.00000], [-1.00000, -1.00000, 0.00000, 0.00000], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0065 RT_approach2=[[0.5, -0.5, 0.4],[0.00000, 0.70711, 0.70711, -0.00000], [-1.00000, -1.00000, 0.00000, 0.00000], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0066 RT_release=[[0.5, -0.5, 0.28],[0.00000, 0.70711, 0.70711, -0.00000], [-1.00000, -1.00000, 0.00000, 0.00000], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0067 0068 %replace the above points TO PROGRAM THE REAL ROBOT. 0069 %CONST robtarget RT_initial:=[[500,-400,500],[0.427269,0.289111,0.84406,-0.14635],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0070 %CONST robtarget RT_approach1:=[[-100,-500,400],[0,0.70711,0.70711,0],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0071 %CONST robtarget RT_grip:=[[-97.01,-493.4,246.8],[1.5E-05,-0.707114,-0.7071,-2E-06],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0072 %CONST robtarget RT_approach2:=[[532.11,-422.58,368.01],[6.1E-05,-0.707117,-0.707097,1.5E-05],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0073 %CONST robtarget RT_release:=[[503.36,-442.47,356.87],[0.000279,0.707036,0.707178,0.000235],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0074 0075 0076 main 0077 end 0078 0079 function main() 0080 0081 global TD_gripper RT_initial RT_approach1 RT_grip RT_approach2 RT_release 0082 %close the tool 0083 simulation_close_tool; %Set do1; 0084 0085 %move to the initial point 0086 MoveJ(RT_initial, 'vmax' , 'fine' , TD_gripper, 'wobj0'); 0087 0088 % Now open the tool 0089 simulation_open_tool; %Reset do1; 0090 0091 %Move to the approaching point 0092 MoveJ(RT_approach1, 'vmax' , 'fine' , TD_gripper, 'wobj0'); 0093 %Now, go down to the grabbing target point and 0094 MoveL(RT_grip, 'vmax' , 'fine' , TD_gripper, 'wobj0'); 0095 0096 %and close the tool and grip the piece. These two functions 0097 % must be called to simulate that the gripper has the piece grabbed and the 0098 %tool is closed 0099 simulation_close_tool; %Set do1; 0100 simulation_grip_piece; 0101 0102 %Now go to the same approach point so that collisions with the table are 0103 %avoided 0104 MoveL(RT_approach1, 'vmax' , 'fine' , TD_gripper, 'wobj0'); 0105 0106 %Move to the approach next to the packaging area 0107 MoveJ(RT_approach2, 'vmax' , 'fine' , TD_gripper, 'wobj0'); 0108 %go down to the release point inside the box 0109 MoveL(RT_release, 'vmax' , 'fine' , TD_gripper, 'wobj0'); 0110 0111 %yes, release the piece 0112 simulation_open_tool; %Reset do1; 0113 simulation_release_piece; %Reset do1; 0114 0115 %now, go up 0116 MoveL(RT_approach2, 'vmax' , 'fine' , TD_gripper, 'wobj0'); 0117 0118 %Now, go back to the initial point 0119 MoveJ(RT_initial, 'vmax' , 'fine' , TD_gripper, 'wobj0'); 0120 0121 end