SCRIPT TO TEST THE GRAPHIC CAPABILITIES OF THE TOOLBOX: ROBOT IN A MANUFACTURING CELL MORE MANUFACTURING DEMOS ARE FOUND UNDER: arte/RAPID/programs The scripts found in this directory can also be translated to RAPID language using the matlab2RAPID function. Copyright (C) 2012, by Arturo Gil Aparicio This file is part of ARTE (A Robotics Toolbox for Education). ARTE is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. ARTE is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Leser General Public License along with ARTE. If not, see <http://www.gnu.org/licenses/>.
0001 % SCRIPT TO TEST THE GRAPHIC CAPABILITIES OF THE TOOLBOX: ROBOT IN A MANUFACTURING CELL 0002 % MORE MANUFACTURING DEMOS ARE FOUND UNDER: 0003 % arte/RAPID/programs 0004 % The scripts found in this directory can also be translated to RAPID 0005 % language using the matlab2RAPID function. 0006 % 0007 % Copyright (C) 2012, by Arturo Gil Aparicio 0008 % 0009 % This file is part of ARTE (A Robotics Toolbox for Education). 0010 % 0011 % ARTE is free software: you can redistribute it and/or modify 0012 % it under the terms of the GNU Lesser General Public License as published by 0013 % the Free Software Foundation, either version 3 of the License, or 0014 % (at your option) any later version. 0015 % 0016 % ARTE is distributed in the hope that it will be useful, 0017 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0018 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0019 % GNU Lesser General Public License for more details. 0020 % 0021 % You should have received a copy of the GNU Leser General Public License 0022 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0023 close all 0024 echo on 0025 q = [0 0 0 0 0 0]; 0026 0027 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0028 % 0029 % 0030 % THE DEMO PRESENTS THE ROBOT IN A MANUFACTURING CELL AND SEVERAL BASIC COMMANDS 0031 % 0032 % START BY LOADING LOAD A ROBOT BY MEANS OF THE LOAD_ROBOT FUNCTION' 0033 % 0034 % robot=load_robot('abb', 'IRB140'); 0035 % 0036 % LOTS OF OTHER ROBOTS CAN BE LOADED, PLEASE TRY: 0037 % 0038 % robot=load_robot('abb', 'IRB6620'); 0039 % robot=load_robot('kuka', 'KR5_arc'); 0040 % robot=load_robot('kuka', 'KR5_sixx_R650'); 0041 % MORE ROBOTS AVAILABLE UNDER THE arte_lib3.x/robots DIRECTORY 0042 % 0043 % Example: 0044 % 0045 % robot=load_robot('abb', 'IRB140'); 0046 % 0047 % adjust_view(robot); 0048 % 0049 % fprintf('\nNOW LOAD AUXILIAR EQUIPMENT') 0050 % robot.equipment=load_robot('equipment', 'bumper_cutting'); 0051 % 0052 % drawrobot3d(robot, q) 0053 % 0054 % fprintf('\nNOW LOAD A GRIPPER') 0055 % robot.tool=load_robot('equipment/end_tools', 'parallel_gripper_0'); 0056 % 0057 % drawrobot3d(robot, q) 0058 % fprintf('\nNOW THE TEACHING PENDANT') 0059 % teach 0060 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0061 0062 echo off 0063 0064 fprintf('\nLOAD A ROBOT:\n') 0065 0066 robot=load_robot('abb', 'IRB140'); 0067 0068 0069 fprintf('\nNOW DRAW THE ROBOT') 0070 drawrobot3d(robot, q) 0071 0072 adjust_view(robot); 0073 0074 0075 fprintf('\nNOW LOAD AUXILIAR EQUIPMENT') 0076 robot.equipment=load_robot('equipment', 'bumper_cutting'); 0077 0078 %draw the robot 0079 drawrobot3d(robot, q) 0080 0081 fprintf('\nNOW LOAD A GRIPPER') 0082 robot.tool=load_robot('equipment/end_tools', 'parallel_gripper_0'); 0083 0084 0085 %draw the robot 0086 drawrobot3d(robot, q) 0087 0088 adjust_view(robot); 0089 robot.tool_activated=1; 0090 0091 drawrobot3d(robot,q) 0092 0093 0094 fprintf('\nNOW LOAD A DIFFERENT TOOL') 0095 robot.tool=load_robot('equipment/end_tools', 'vacuum_2'); 0096 0097 drawrobot3d(robot,q) 0098 0099 adjust_view(robot); 0100 %NOW MOVE THE ROBOT WITH THE TEACHING PENDANT 0101 0102 0103 teach 0104 0105 0106 0107 0108