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Robot SimulationME 192, Fall 2015
Aditya Patil Brian SlagowskiYasman Zargari Alenjandro Valenzuela
Learning objectives• To learn basics of simulation environment’s setup • To employ mathematical transformation tools
learnt• To understand and manipulate robot
configurations• To experience singularities and configuration
limitations• To develop applications based on
• Vision • Digital IOs• Static & Dynamic
Simulation Lab- Benefits • Safe and Inexpensive• Rapid changes incorporated• Predicting ‘What if?’ scenarios• Fusion of Vision and actuation tools
Setup requirements• Adept Ace (version > 3.0)• Workstation capable of running the
program(>3.0Ghz Processor)
Important Operating Instructions and Experimental
Procedures• Check Emulation Mode Enabled• Documentation reading is essential• Disable Virtual Power ‘OFF’ when
making changes• Belt Calibration- ‘STOP’ Tracking
before continuing
Steps • Configuration: Controller, Robot, Task panes, 3D
view, Jog control• Process Items:
1.Belt 2.Part 3.Part target 4.Process manager
a.Pick & Place configuration (part / target)
b.Belt and Sensor calibration
Adept Ace Startup and Layout:
Jog Controller and 3D Viewer:
Process and Routine Configuration
Challenges faced
• Coordinate referencing • Belt window, Pickup window• Out of Range Errors• Teaching a Process: Part location• Process manager referencing
Things learnt
• Dependencies in a Robotic Application
• Application: A machine is dumb, think like it- Offset referencing
• Travel time and idle position through the process
Effective student learning
• 10hrs of SW learning and 20hrs of experimentation recommended.
• Setting up & Noting of coordinate values may yield faster results
Thank you!