Robot Simulation final
- 1. Robot Simulation ME 192, Fall 2015 Aditya Patil Brian Slagowski Yasman Zargari Alenjandro Valenzuela
- 2. 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
- 3. Simulation Lab- Benefits • Safe and Inexpensive • Rapid changes incorporated • Predicting ‘What if?’ scenarios • Fusion of Vision and actuation tools
- 4. Setup requirements • Adept Ace (version > 3.0) • Workstation capable of running the program(>3.0Ghz Processor)
- 5. 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
- 6. 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
- 7. Adept Ace Startup and Layout:
- 8. Jog Controller and 3D Viewer:
- 10. Challenges faced • Coordinate referencing • Belt window, Pickup window • Out of Range Errors • Teaching a Process: Part location • Process manager referencing
- 11. 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
- 12. Effective student learning • 10hrs of SW learning and 20hrs of experimentation recommended. • Setting up & Noting of coordinate values may yield faster results
- 13. Thank you!