IN ORDER TO SIMULATE THE PROGRAM:
A) FIRST, LOAD A ROBOT
robot = load_robot('abb','irb140');
B) NEXT, LOAD SOME EQUIPMENT.
robot.equipment = load_robot('equipment','tables/table_small');
OR
robot.equipment = load_robot('equipment','bumper_cutting');
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 ROBOT'S
BASE
robot.piece.T0= [1 0 0 -0.35;
0 1 0 -0.55;
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 correct, thus, typically the correct
sequence is:0001 % IN ORDER TO SIMULATE THE PROGRAM: 0002 % A) FIRST, LOAD A ROBOT 0003 % robot = load_robot('abb','irb140'); 0004 % B) NEXT, LOAD SOME EQUIPMENT. 0005 % robot.equipment = load_robot('equipment','tables/table_small'); 0006 % OR 0007 % robot.equipment = load_robot('equipment','bumper_cutting'); 0008 % C) NOW, LOAD AN END TOOL 0009 % robot.tool= load_robot('equipment','end_tools/parallel_gripper_0'); 0010 % D) FINALLY, LOAD A PIECE TO GRAB BY THE ROBOT 0011 % robot.piece=load_robot('equipment','cylinders/cylinder_tiny'); 0012 % 0013 % E) IF NECESSARY, CHANGE THE POSITION AND ORIENTATION OF THE ROBOT'S 0014 % BASE 0015 % robot.piece.T0= [1 0 0 -0.35; 0016 % 0 1 0 -0.55; 0017 % 0 0 1 0.2; 0018 % 0 0 0 1]; 0019 % 0020 % during the simulation, call simulation_open_tool; to open the tool and 0021 % simulation_close_tool; to close it. 0022 % To grip the piece, call simulation_grip_piece; and 0023 % simulation_release_piece to release it. 0024 % The call to each function must be correct, thus, typically the correct 0025 % sequence is: 0026 0027 % simulation_open_tool; 0028 % approach the piece to grab. 0029 % simulation_close_tool; 0030 % simulation_grip_piece; --> the piece will be drawn with the robot 0031 % move to a different place 0032 % simulation_open_tool; 0033 % simulation_release_piece 0034 0035 function test_2 0036 global TD_tool0 RT_tp1 RT_tp2 RT_tp3 JV_q0 0037 0038 TD_tool0=[1,[[0,0,0],[1,0,0,0]],[0,[0,0,0],[1,0,0,0],0,0,0]]; 0039 0040 %initial position 0041 JV_q0=[0 0 0 0 0 0]'; 0042 %target points 0043 RT_tp1=[[0.3,0.0089,1.0195],[0.2175,0.0971,-0.0689,0.9688],[1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 0044 RT_tp2=[[0.7150,-0.2000,0.5120],[0.7071,0.0,0.7071,0.0000],[-1,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 0045 RT_tp3=[[0.8,0.000,0.3],[0.7071,0.0,0.7071,0.0000],[-1,-1,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]]; 0046 0047 main 0048 end 0049 0050 function main() 0051 0052 global TD_tool0 RT_tp1 RT_tp2 RT_tp3 JV_q0 0053 0054 %The MoveAbsJ function performs a joint coordinate planning to the 0055 %specified joint values 0056 MoveAbsJ(JV_q0, 'vmax' , 'fine' , TD_tool0, 'wobj0'); 0057 MoveJ(RT_tp1, 'vmax' , 'fine' , TD_tool0, 'wobj0'); 0058 MoveJ(RT_tp2, 'vmax' , 'fine' , TD_tool0, 'wobj0'); 0059 MoveL(RT_tp1, 'vmax' , 'fine' , TD_tool0, 'wobj0'); 0060 MoveL(RT_tp2, 'vmax' , 'fine' , TD_tool0, 'wobj0'); 0061 %Return to tp1 0062 MoveJ(RT_tp1, 'vmax' , 'fine' , TD_tool0, 'wobj0'); 0063 0064 MoveC(RT_tp2, RT_tp3, 'vmax' , 'fine' , TD_tool0, 'wobj0'); 0065 0066 %use the Offs function to move relative to tp1 0067 % The Offs function makes a relative displacement in X, Y and Z directions 0068 %Please note that, by using Offs, the specified axes configuration may 0069 %differ from the one specified in tp1. 0070 MoveJ(Offs(RT_tp1,0.1,0,-0.1), 'vmax' , 'fine' , TD_tool0, 'wobj0'); 0071 0072 %use MoveL inside a Loop, moving incrementally 0073 for i=1:4 0074 MoveL(Offs(RT_tp1,0.1,i*0.1,-0.2), 'vmax' , 'fine' , TD_tool0, 'wobj0'); 0075 end 0076 0077 end