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IPS 2.0 Robotics educationHM Automation Solution
Education
Basics
Main Window IPS
Drop down MenusToolbar
Control panel
Status bar
SimulationWindow
Output Window
• Static Geometry• Headlight• Active Objects• Simulations• Trash can• Processes
Open example scene barcelona.ips
Main Window IPS
File toolbar• Import• Export scene• Export geometry
View toolbar• Perspective • Parallel/Orthographic view• Std views• Fit selection• Fit scene• Set as scene center• Collision handling on/off• Auto menu
Viewpoint toolbar• Capture view• Captured views
Recorder toolbar• Start/Pause recording• Stop recording• Snap window• Recording settings
Creation toolbar• Create geometry group• Create frame• Create new light source• Create new length measure• Create new angle measure• Create new value measure
Active objects toolbar• Create planning process • Create planning process• Create active group• Create TCP selector• Create TCP• Create pose feature
Navigation in simulation window IPS
Rotation with left mouse buttonTranslation with right mouse button
Zoom in/out with scroll wheel or right+left mouse button
The same commands used in all types of movements / motions for both scene and objects.
Context Menu. Reached by selecting a Static/Rigid Geometry and press Right mouse button anywhere in the Geometry Tree or the Simulation Window.
Editable object Name
Open Placement Editor
Enable/Disable rendering
Use slider to set object transparency
Right click on a static object
Reset all translations and rotations to 0
Enable/Disable objects
Open object Color dialog
Editable object Name
Enable/Disable objects
Reset all translations and rotations to 0
Open object Color dialog
Use slider to set object transparency
Right click on an Active objectContext Menu. Reached by selecting an Active Geometry and press Right mouse button anywhere in the Geometry Tree or the Simulation Window.
Enable/Disable rendering
Navigation / moving of Static objects
Select the static object, press Ctrl+Alt the object coordinate system will be lighted up.Then you can use your mouse on the different axis to move or rotate.
Two ways to translate / rotate an object• Via “Placement editor” (exact)• With Mouse (rough)
“Rough” movement with the mouse according to previous instruction
Rotation with left mouse button
Translation with right mouse button
Zoom in/out with scroll wheel or right+left mouse button
Opportunities to choose coordinate systems for the movement in the Placement editor.• Global (the 0 for the complete assembly)• Parent (the subassembly coordinate system) • Control Frame (self-created Frame)
Navigation / moving of an Active object To move an active object• Via “Placement editor” (exact)
Opportunities to choose coordinate systems for the movement in the Placement editor.• Global (the 0 for the complete assembly)• Parent (the subassembly coordinate system) • Control Frame (self-created Frame)
Select the Active object, press Ctrl+Alt the object coordinate system will be lighted up.You can now use your mouse on the different axis to move or rotate.
To translate/rotate an active object• Via “Control editor” (exact)• With Mouse (rough)
Rotation with left mouse button
Translation with right mouse button
Zoom in/out with scroll wheel or right+left mouse button
Tools for personal settings in IPS
Navigation controls(Help/Navigation Controls)
Hotkey Editor(Edit/Hotkeys)
Exercises
Simulation ex 1. Automatic Task Planning
• Import “barcelona.ips” scene• Import “barcelona_tiles.xml” features• Make sure nothing is selected• Press “Create planning process” button• Enter desired clearance in the “Clearance” text field• Press the “Plan Tasks” button• Press the “Sequence” tab
Simulation ex 1. Manual Sequencing
• Select “Home Position Left” and drag it to the “IRB Left” column
• Do the same with the three features that “IRB Left” can reach
• Now select the time for the path
• Reset the path in the Agent Solution Player
• Run it and see how it looks
• Try drag and drop the different features to different positions for better sequence time
• Now select “Home Position Right” and drag it to the “IRB Right” column
• Also drag and drop three features that “IRB Right” can reach
• Now go through the same procedure as for “IRB Left” and try to obtain as short sequence time as possible
Simulation ex 1. Manual Sequencing• Click on one of the features and different performance
alternatives for the actual agent will appear
• Click through the list of alternatives and take a look at the different configurations
• Double-click on the preferred alternative and it will be marked and you can also see it in the feature name(see below)
Simulation ex 1. Manual Sequencing
Home Position
Inter pathsTiles
• Enter desired clearance in the “Clearance” text field• Select the inter paths to plan and click the “Plan inter paths” button
(If no inter path is selected, all will be planned)• Watch in what way the estimated cycle time have changed
Simulation ex 2. Automatic Sequencing
• Select the estimated cycle time text field• Press “Plan Sequences” button• Press OK in the dialog box
For even better results you can let IPS calculate as good as possible within a given time frame:• Fill in 0 in the gap solution text field• Put in no. of seconds to calculate
Simulation ex 3. Manual Load Balancing and Sequencing
Try to manually load balance and sequencethe proposed features.
In this case, the load balancing is trivial because each feature is reachable by one robot only.
Simulation ex 4. Automatic Load Balancing and Sequencing
• Select all features and agents• Press the “Load balance and seq.” button• Press OK in the dialog box
Now IPS will automatically calculate which features each agent should take. It also calculates the order of the features and how the agent should take the features. It will even automatically calculate collision-free motions between the features. However, the agents still might collide.
Simulation ex 4. Automatic Coordination
• Enter desired clearance between agents in the“Clearance between robots” text field
• Select the agents to coordinate and press the “Coordinate” button
• Press No in the dialog box• The result will appear in the “Coordinated
solutions” list
Simulation ex 4. Automatic Load Balancing and Sequencing, optimized for coordination
• Select all features and agents• Press the “Load balance and seq.” button• Set gap to 0 and the calculation time to run over night• Click the “Path-path collision” check box in the
dialog box• Press OK
Now IPS will automatically calculate which features each agent should take. It also calculates the order of the features and how the agent should take the features and also take care of coordination. It will even automatically calculate collision-free motions between the features. However, the agents still might collide.
• Select the agents and press “Coordinate” button