User manual of application
Contents
1. View In this submenu is possible to select one from predefined view in 3 D window front top etc When the option Marker is set the trace of the efector point is shown Toolbars Here is s possibility to turn on off toolbars Help Pomoc do programu 4 4 Working mode Source selector The application has three working modes e Robot work with real robot e CommSim manual change of the models position command line or corresponding wid gets e Video mode to playing recorded sequence Tryb Robot Every correctly received data had changed posture of robot model in 3 D view Manual change of the position is not allowed but there is a possibility to record the movement sequence 4 Tryb CommSim In this mode manual change the posture of the model is possible To change use correspondent widget or command line all commands are in appendix A Similar like the previous mode here is also possibility to record a sequence Tryb Video Here is a possibility to play any recorded sequence the continous play or frame by frame mode is allowed 5 Closing information Full documentation of the program and library created for this project was delivered with source codes to supervisor of the project A Command list to use in command line 1 quit turn off the application 2 set joint nr val set joint nr to value val 3 seta 1 446 set all joints to value 1 46 4 get joint nr return value of the angle in joint2. nr 5 info display information about vis 6 reset reset all values in joints 7 resetv reset viewport 8 say display message in window
3. robot serial port with serial port in PC using a null modem cable e Start the vis application on PC e Prepare a program in robot controller see description in point 3 3 Program in robot controller To start a program in robot controller assume that program is on floppy disk 1 Press program key to open window 2 Select from menu File gt Open Open Select a Program or a Module Mass memory unit Massmemory unit flpl ROBOT1 l 4 5 Current directory Go up 1 level WELD1 Program WELD2 Program USER1 System Module TEST Directory Cancel 3 Change Unit to floppy disk 4 Select program to be started Because the multitasking in operation system in robot controller is not be done the program send sensors data in sequence order Open sio1 iodev Bin open port joints CJointT read value from sensors WriteStrBin iodev1i ValToStr joints robax sending data robot movement instruction ex MoveC MoveL joints CJointT read value from sensors WriteStrBin iodev1i ValToStr joints robax sending data robot movement instruction ex MoveC MoveL joints CJointT read value from sensors WriteStrBin iodevi ValToStr joints robax sending data Close iodevi close port 4 User manual of the vis application 4 1 vis overview vis application was created to visualise industry robot IRB 1400 on PC screen Application using collected data change posture of the 3 D
4. User Manual Visualization Application for Industrial Robot IRB 1400 Authors Aleksandra Felifiska Thijs van den Broek Mateusz Kulikowski Adam Ratajczak Filip Sajdak Project has been made by senior year student from Control Engineering and Robotics Wro claw Univ of Technology in cooperation with student from Department of Mechanical Engi neering Dynamics and Control Technology Ein dhoven Univ of Technology Holland This task was accomplish within an university course na med Techniki komputerowe w robotyce Wroctaw 2007 1 Overview The main task of builded system id to show in 3 dimensional graphic a model of an industry robot IRB 1400 which is standing in Robotics Laboratory 010 C 3 System using a serial connection between robot and personal computer is collecting data from internal robot sensors and putting them to computer application Computer program based on received data change the posture of 3 D robot model Beside the application can record model change sequence and save this to file for later playing 1 1 Compoments Block diagram is presented in fig 1 Measured data from sensors are sent through serial port to PC application and are changed to movement of 3 D model Robot Controller Personal Computer Robot gt gt Program Program Rysunek 1 Block diagram of visualization system 2 Preparation To run the system e Connect
5. robot model The change sequence can be record and store in file on hard disk for future playing Application also allow to simulate movement of the real robot 4 2 User interface Main window of the application has been showed on fig 2 On the figure has been marked main elements Main menu Description below in point 4 3 Source selector Select the working mode which data can change the model in 3 d view more detailed description in point 4 4 Video To control recording and playing the movement sequence use this buttons 3 Main menu a MainWindow x Source selector lt onnection View Toolbars Help gt Video 3 D view window Joints H LOS CH CH a f rE D u S I olf t il aft i Communication glRenderer Output Initialized Command X Rysunek 2 Main window of the Application Joints To read actual position in joints click the Get button to set a position enter value in proper widget and click et button Communication All message about system work are displayed in this widget In Comm Simm mode a command line is appear Whole list of proper command in appendix A 4 3 Main menu Connection In this submenu are connect disconnect options to control the connection and also there is setup option In setup window is possibility to set the port configuration like connection speed parity etc and change the application language
Download Pdf Manuals
Related Search