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Robot cell modeling and collision detection based on Matlab

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FAST-Lab. Factory Automation Systems and Technologies Laboratory, Tampere University of Technology
FAST-Lab. Factory Automation Systems and Technologies Laboratory, Tampere University of Technology

This presentaiton is done in a coursework in the course special assignment in factory automation in FAST Laboratory. It introduces the usage of Matlab in realtime control and collosion detection by controlling two ABB IRB140 Robots.

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Robot Cell Modeling and Collision Detection Based on Matlab ?Date: Oct, 2012 Special Assignment in Factory ?Course: TTE-5707 Special Assignment Automation (coursework) in Factory Automation @ FAST-Lab. Title of the presentation: Robot Cell Modelling and Collision Detection Based on Matlab Authors: Xiangbin Xu (Int. M.Sc. Programme in Machine Automation) Contact information Dr. Andrei Lobov (Assoc. Professor) Tampere University of Technology, Prof. Jose L. Martinez Lastra, Dr.Sc. FAST Laboratory, P.O. Box 600, FIN-33101 Tampere, Finland Email: fast@tut.fi If you would like to receive a reprint of the original paper, please contact us www.tut.fi/fast 1
Robot Cell Modeling and Collision Detection Based on Matlab Xiangbin Xu (Int. M.Sc. Programme in Machine Automation) Supervisors: Dr. Andrei Lobov (Assoc. Professor) Prof. Jose L. Martinez Lastra, Dr.Sc. Tampere University of Technology, Finland Factory Automation Systems and Technologies Laboratory
Motivation ? Robot cell modeling is beneficial for trajectory planning and the control process of the industrial robots. ? Real-time monitoring provides handy access to the current status of the industrial robots ? Collision detection helps prevent the manipulator from colliding with the other one or the conveyors. ? ABB IRB 140 is one of the most widely used industrial robots. It has 6-DOF with six revolute joints. The figures show the actual robot cell and its model. Figure 1 Actual robot cell Figure 2 Robot cell model
GUI and Communication ? Graphic user interface A graphic user interface as shown in the figure on the right is developed for selecting the default layout of the conveyors or defining customized layout. Figure 3 Graphic user interface ? Communication between the model and the robot controller The robot controller is connected to a PC through Ethernet. For the Matlab robot model application, ABB PC SDK is integrated. The following illustration shows the integration between the Matlab application and the IRC5 controller. Figure 4 Communication between the model and the controller
Real-time Monitoring and Collision Detection ? Real-time monitoring The robot model follows and displays the path of the manipulators. Figure 5 Real-time monitoring ? Collision detection The color of the robot model changes when any of the manipulators collides with the other one or with any of the conveyors. Figure 6 Collision detection
Summary ? The robot cell model and collision detection are realized by using Matlab ? The robot model is created with the help of the Robotics Toolbox ? ABB PC SDK is integrated for the communication between the model and the robot controller ? The path and collision of the manipulators are displayed ? A user interface is developed for the reconfiguration of the layout of the conveyors so that the cell model can be modified and updated, the manipulators then use updated cell model for collision detection The video of this project can be found from FAST Laboratory¡¯s YouTube channel
Thank you! FAST @ YouTube FAST @ Facebook FAST @ ºÝºÝߣshare

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Robot cell modeling and collision detection based on Matlab

  • 1. Robot Cell Modeling and Collision Detection Based on Matlab ?Date: Oct, 2012 Special Assignment in Factory ?Course: TTE-5707 Special Assignment Automation (coursework) in Factory Automation @ FAST-Lab. Title of the presentation: Robot Cell Modelling and Collision Detection Based on Matlab Authors: Xiangbin Xu (Int. M.Sc. Programme in Machine Automation) Contact information Dr. Andrei Lobov (Assoc. Professor) Tampere University of Technology, Prof. Jose L. Martinez Lastra, Dr.Sc. FAST Laboratory, P.O. Box 600, FIN-33101 Tampere, Finland Email: fast@tut.fi If you would like to receive a reprint of the original paper, please contact us www.tut.fi/fast 1
  • 2. Robot Cell Modeling and Collision Detection Based on Matlab Xiangbin Xu (Int. M.Sc. Programme in Machine Automation) Supervisors: Dr. Andrei Lobov (Assoc. Professor) Prof. Jose L. Martinez Lastra, Dr.Sc. Tampere University of Technology, Finland Factory Automation Systems and Technologies Laboratory
  • 3. Motivation ? Robot cell modeling is beneficial for trajectory planning and the control process of the industrial robots. ? Real-time monitoring provides handy access to the current status of the industrial robots ? Collision detection helps prevent the manipulator from colliding with the other one or the conveyors. ? ABB IRB 140 is one of the most widely used industrial robots. It has 6-DOF with six revolute joints. The figures show the actual robot cell and its model. Figure 1 Actual robot cell Figure 2 Robot cell model
  • 4. GUI and Communication ? Graphic user interface A graphic user interface as shown in the figure on the right is developed for selecting the default layout of the conveyors or defining customized layout. Figure 3 Graphic user interface ? Communication between the model and the robot controller The robot controller is connected to a PC through Ethernet. For the Matlab robot model application, ABB PC SDK is integrated. The following illustration shows the integration between the Matlab application and the IRC5 controller. Figure 4 Communication between the model and the controller
  • 5. Real-time Monitoring and Collision Detection ? Real-time monitoring The robot model follows and displays the path of the manipulators. Figure 5 Real-time monitoring ? Collision detection The color of the robot model changes when any of the manipulators collides with the other one or with any of the conveyors. Figure 6 Collision detection
  • 6. Summary ? The robot cell model and collision detection are realized by using Matlab ? The robot model is created with the help of the Robotics Toolbox ? ABB PC SDK is integrated for the communication between the model and the robot controller ? The path and collision of the manipulators are displayed ? A user interface is developed for the reconfiguration of the layout of the conveyors so that the cell model can be modified and updated, the manipulators then use updated cell model for collision detection The video of this project can be found from FAST Laboratory¡¯s YouTube channel
  • 7. Thank you! FAST @ YouTube FAST @ Facebook FAST @ ºÝºÝߣshare