demos

 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 % Copyright (C) 2012, by Arturo Gil Aparicio
0002 %
0003 % This file is part of ARTE (A Robotics Toolbox for Education).
0004 %
0005 % ARTE is free software: you can redistribute it and/or modify
0006 % it under the terms of the GNU Lesser General Public License as published by
0007 % the Free Software Foundation, either version 3 of the License, or
0008 % (at your option) any later version.
0009 %
0010 % ARTE is distributed in the hope that it will be useful,
0011 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0012 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0013 % GNU Lesser General Public License for more details.
0014 %
0015 % You should have received a copy of the GNU Leser General Public License
0016 % along with ARTE.  If not, see <http://www.gnu.org/licenses/>.
0017 
0018 %demo file showing the main capabilities of the library
0019 global robot configuration
0020 close all
0021 
0022 fprintf('\nROBOT MANUFACTURING AND PROGRAMMING DEMO\n')
0023 manufacturing_demo
0024 
0025 spot_welding_demo
0026 
0027 fprintf('\nINVERSE AND DIRECT KINEMATICS DEMO\n')
0028 kinematics_demo
0029 
0030 fprintf('\nINVERSE DYNAMICS DEMO\n')
0031 inversedynamics_puma560
0032 
0033 fprintf('\nFORWARD DYNAMICS DEMO\n')
0034 forwarddynamics_demo
0035 
0036 fprintf('\nPRESS ANY KEY TO CONTINUE\n')
0037 pause
0038 
0039 fprintf('\nA MITSUBISHI PA-10 FOLLOWING A LINE IN SPACE\n')
0040 follow_line_pa10
0041 
0042 fprintf('\nDIRECT JACOBIAN DEMO\n')
0043 direct_jacobian_demo
0044 
0045 
0046 fprintf('\nNOW WE CAN PLOT SOME OF THE ROBOTS INCLUDED IN THE LIBRARY\n')
0047 fprintf('\nPRESS ANY KEY TO CONTINUE\n')
0048 pause
0049 
0050 robot=load_robot('kuka', 'KR5_scara_R350_Z200');
0051 drawrobot3d(robot, [0 0 0 0])
0052 fprintf('\nPRESS ANY KEY TO CONTINUE\n')
0053 pause
0054 
0055 robot=load_robot('kuka', 'KR5_sixx_R650');
0056 drawrobot3d(robot, [0 0 0 0 0 0])
0057 fprintf('\nPRESS ANY KEY TO CONTINUE\n')
0058 pause
0059 
0060 robot=load_robot('kuka', 'KR90_R2700_pro');
0061 drawrobot3d(robot, [0 0 0 0 0 0])
0062 fprintf('\nPRESS ANY KEY TO CONTINUE\n')
0063 pause
0064 
0065 fprintf('\nUSE A TEACHING PENDANT TO PROGRAM THE ROBOT IN RAPID\n')
0066 fprintf('\nOTHER ROBOTS (KUKA, FANUC, MITSUBISHI) CAN ALSO BE PROGRAMMED IN RAPID\n')
0067 robot=load_robot('abb', 'IRB140');
0068 teach
0069 
0070 fprintf('\nPRESS ANY KEY TO CONTINUE\n')
0071 pause
0072 
0073 fprintf('\nRAPID IS TRANSLATED TO A MATLAB PROGRAM\n')
0074 fprintf('\nYOU CAN SIMULATE A PROGRAM STEP BY STEP\n')
0075 edit test_rapid.m
0076 
0077