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];
The A, B, C, D and E steps can be performed usint the 'teach' application
by clicking on the Load equipment, load end tool, and load piece
buttons.
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 % The A, B, C, D and E steps can be performed usint the 'teach' application 0029 % by clicking on the Load equipment, load end tool, and load piece 0030 % buttons. 0031 % 0032 % during the simulation, call simulation_open_tool; to open the tool and 0033 % simulation_close_tool; to close it. 0034 % 0035 % To grip the piece, call simulation_grip_piece; and 0036 % simulation_release_piece to release it. 0037 % 0038 % The call to each function must be in a correct, otherwise, the result may be 0039 % undesired, thus, typically the correct sequence is: 0040 % simulation_open_tool; 0041 % (approach the piece to grab with MoveL or MoveJ) 0042 % simulation_close_tool; 0043 % simulation_grip_piece; --> the piece will be drawn with the robot 0044 % 0045 % move to a different place with MoveJ or MoveL 0046 % simulation_open_tool; 0047 % simulation_release_piece 0048 % 0049 % In RAPID, consider the use of ConfJ on, or ConfJ off, or ConfL on, or ConfL off 0050 % in the case the controller avoids the change of configurations between target points 0051 function practice_1_packaging 0052 0053 global RT_pos_ini RJ_ini RT_aprox_rec RT_pos_rec 0054 global RT_aprox_dej RT_pos_dej TD_gripper VAR_pieza 0055 global robot 0056 0057 0058 TD_gripper=[1,[[0,0,0.125],[1,0,0,0]],[0.1,[0,0,0.100],[1,0,0,0],0,0,0]]; 0059 0060 RJ_ini=[0,0,0,0,0,0]; 0061 RT_pos_ini=[[0.044,-0.501,0.432],[0.262525,0.622008,0.673812,-0.300276],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0062 0063 RT_aprox_rec=[[0.03,-0.6,0.45],[0.08,0.60337,0.79283,-0.03126],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0064 RT_pos_rec=[[0.0345,-0.629,0.337],[0.261833,0.652321,0.67413,-0.226869],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0065 0066 RT_aprox_dej=[[0.470,-0.460,0.500],[0.07981,0.603204,0.792983,-0.030902],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0067 RT_pos_dej=[[0.470,-0.460,0.450],[0.07981,0.603204,0.792983,-0.030902],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; 0068 0069 0070 %local function to init simulation variables 0071 init_simulation; 0072 0073 0074 VAR_pieza=0; 0075 %!Reset --> abrir pinza 0076 %!Set --> Cerrar pinza 0077 0078 main 0079 end 0080 0081 0082 function main() 0083 0084 global RJ_ini TD_gripper VAR_pieza 0085 0086 %inicializar pieza 0087 VAR_pieza=0; 0088 0089 MoveAbsJ(RJ_ini,'vmax','z100',TD_gripper, 'wobj0'); 0090 0091 %MoveJ(RT_pos_ini,'vmax','z100',TD_gripper, 'wobj0'); 0092 0093 for i=1:4, 0094 ASIR_DEJAR(); 0095 VAR_pieza=VAR_pieza +1; 0096 %local function to init simulation variables 0097 init_simulation; 0098 end 0099 0100 end 0101 0102 0103 function ASIR_DEJAR() 0104 0105 global RT_aprox_rec RT_aprox_dej TD_gripper 0106 0107 %!Moverse a posici�n de aproximacion de recogida 0108 MoveJ(RT_aprox_rec,'vmax','z100',TD_gripper, 'wobj0'); 0109 COGER_PIEZA; 0110 %!Moverse a posici�n base de dejada 0111 MoveJ(RT_aprox_dej,'vmax','z100',TD_gripper, 'wobj0'); 0112 METER_EN_CAJA; 0113 0114 end 0115 0116 0117 function COGER_PIEZA() 0118 global RT_aprox_rec RT_pos_rec TD_gripper 0119 0120 %!Ahora abrir pinza 0121 simulation_open_tool; %Reset do1; 0122 WaitTime(0.1);!esperar apertura 0123 %!Coger 0124 MoveL(RT_pos_rec,'vmax','fine',TD_gripper, 'wobj0'); 0125 0126 %!Ahora cerrar pinza 0127 simulation_close_tool; %Set do1; 0128 simulation_grip_piece; 0129 0130 Waittime(0.1); !esperar cierre 0131 %!Subir por seguridad antes de ir al siguiente punto 0132 MoveL(RT_aprox_rec,'vmax','z50',TD_gripper, 'wobj0'); 0133 0134 end 0135 0136 function METER_EN_CAJA() 0137 global RT_pos_dej TD_gripper VAR_pieza 0138 0139 if VAR_pieza==0 0140 %Bajar para meter primera pieza 0141 MoveL(Offs(RT_pos_dej,0,0,-0.105),'v1000','fine',TD_gripper, 'wobj0'); 0142 elseif VAR_pieza==1 0143 MoveL(Offs(RT_pos_dej,-0.055,0,0),'v1000','z100',TD_gripper, 'wobj0'); 0144 MoveL(Offs(RT_pos_dej,-0.055,0,-0.105),'v1000','fine',TD_gripper, 'wobj0'); 0145 elseif VAR_pieza==2 0146 MoveL(Offs(RT_pos_dej,0,-0.055,0),'v1000','fine',TD_gripper, 'wobj0'); 0147 MoveL(Offs(RT_pos_dej,0,-0.055,-0.105),'v1000','fine',TD_gripper, 'wobj0'); 0148 else 0149 MoveL(Offs(RT_pos_dej,-0.055,-0.055,0),'v1000','fine',TD_gripper, 'wobj0'); 0150 MoveL(Offs(RT_pos_dej,-0.055,-0.055,-0.105),'v1000','fine',TD_gripper, 'wobj0'); 0151 end 0152 0153 %Ahora abrir pinza 0154 %yes, release the piece 0155 simulation_open_tool; %Reset do1; 0156 simulation_release_piece; 0157 0158 plot_points; 0159 0160 Waittime(0.5); 0161 %Subir por seguridad antes de ir al siguiente punto 0162 MoveL(Offs(RT_pos_dej,0,0,0.105),'v1000','z10',TD_gripper, 'wobj0'); 0163 0164 end 0165 0166 0167 function init_simulation 0168 global robot 0169 robot.piece.T0=eye(4); 0170 robot.tool.Trel=eye(4); 0171 % Now open the tool 0172 simulation_open_tool; %Reset do1; 0173 simulation_release_piece; 0174 %init the position of the piece at the beginning of the simulation 0175 robot.piece.T0(1:3,4)=[0.03 -0.68 0.26]'; 0176 th=-30*pi/180; 0177 u=[1 0 0; 0178 0 cos(th) -sin(th); 0179 0 sin(th) cos(th)]; 0180 robot.piece.T0(1:3,1:3)=u;%eye(3); 0181 %robot.tool.piece_gripped=0; 0182 drawrobot3d(robot, robot.q); 0183 0184 0185 end 0186 0187 function plot_points 0188 x0=0.47; 0189 y0=-0.46; 0190 z0=0.45-0.155; 0191 delta=0.055; 0192 X=[x0 x0-delta x0 x0-delta]; 0193 Y=[y0 y0 y0-delta y0-delta]; 0194 Z=[z0 z0 z0 z0]; 0195 0196 plot3(X', Y', Z', 'LineWidth', 5) 0197 end