SCRIPT TO TEST THE GRAPHIC CAPABILITIES OF THE TOOLBOX: ROBOT IN A MANUFACTURING CELL
0001 % SCRIPT TO TEST THE GRAPHIC CAPABILITIES OF THE TOOLBOX: ROBOT IN A MANUFACTURING CELL 0002 0003 % Copyright (C) 2012, by Arturo Gil Aparicio 0004 % 0005 % This file is part of ARTE (A Robotics Toolbox for Education). 0006 % 0007 % ARTE is free software: you can redistribute it and/or modify 0008 % it under the terms of the GNU Lesser General Public License as published by 0009 % the Free Software Foundation, either version 3 of the License, or 0010 % (at your option) any later version. 0011 % 0012 % ARTE is distributed in the hope that it will be useful, 0013 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0014 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0015 % GNU Lesser General Public License for more details. 0016 % 0017 % You should have received a copy of the GNU Leser General Public License 0018 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0019 close all 0020 echo on 0021 0022 % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0023 % q = [0 0 0 0 0 0]; 0024 % 0025 % THE DEMO PRESENTS THE ROBOT IN A ROBOTIC WELDING CELL 0026 % 0027 % START BY LOADING LOAD A ROBOT BY MEANS OF THE LOAD_ROBOT FUNCTION' 0028 % 0029 % robot=load_robot('abb', 'IRB140'); 0030 % 0031 % LOTS OF OTHER ROBOTS CAN BE LOADED, PLEASE TRY: 0032 % 0033 % robot=load_robot('abb', 'IRB6620'); 0034 % robot=load_robot('kuka', 'KR5_arc'); 0035 % robot=load_robot('kuka', 'KR5_sixx_R650'); 0036 % MORE ROBOTS AVAILABLE UNDER THE arte_lib3.x/robots DIRECTORY 0037 % 0038 % Example: 0039 % 0040 % robot=load_robot('kuka', 'KR5_arc'); 0041 % 0042 % adjust_view(robot); 0043 % 0044 % fprintf('\nNOW LOAD AUXILIAR EQUIPMENT') 0045 % robot.equipment=load_robot('equipment', 'bodywork'); 0046 % 0047 % drawrobot3d(robot, q) 0048 % 0049 % fprintf('\nNOW LOAD A GRIPPER') 0050 % robot.tool=load_robot('equipment/end_tools', 'spot_welding'); 0051 % 0052 % drawrobot3d(robot, q) 0053 % fprintf('\nNOW THE TEACHING PENDANT') 0054 % teach 0055 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0056 0057 echo off 0058 0059 fprintf('\nLOAD A ROBOT:\n') 0060 0061 robot=load_robot('KUKA', 'KR5_2ARC_HW'); 0062 0063 0064 fprintf('\nNOW DRAW THE ROBOT') 0065 drawrobot3d(robot, q) 0066 0067 adjust_view(robot); 0068 0069 0070 fprintf('\nNOW LOAD AUXILIAR EQUIPMENT') 0071 robot.equipment=load_robot('equipment', 'bodywork'); 0072 0073 fprintf('\nNOW LOAD A GRIPPER') 0074 robot.tool=load_robot('equipment/end_tools', 'spot_welding'); 0075 0076 0077 %draw the robot 0078 drawrobot3d(robot, q) 0079 0080 0081 teach 0082 0083 0084 0085 0086