Robot Cell Modeling and Collision Detection             Based on Matlab•Date: Oct, 2012                       Special Assi...
Robot Cell Modeling and Collision  Detection Based on Matlab  Xiangbin Xu (Int. M.Sc. Programme in Machine Automation)    ...
Motivation•   Robot cell modeling is beneficial for trajectory planning and the control process of the    industrial robot...
GUI and Communication•   Graphic user interface    A graphic user interface as shown in the figureon the right is develope...
Real-time Monitoring and Collision Detection•   Real-time monitoring    The robot model follows and displays the path ofth...
Summary•   The robot cell model and collision detection are realized by using Matlab•   The robot model is created with th...
Thank you!FAST @ YouTube   FAST @ Facebook   FAST @ Slideshare
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Robot cell modeling and collision detection based on Matlab

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This video is done as 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

  1. 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,FinlandEmail: fast@tut.fi If you would like to receive a reprint of the original paper, please contact uswww.tut.fi/fast 1
  2. 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. 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 actualrobot cell and its model. Figure 1 Actual robot cell Figure 2 Robot cell model
  4. 4. GUI and Communication• Graphic user interface A graphic user interface as shown in the figureon the right is developed for selecting the defaultlayout 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 robotmodel application, ABB PC SDK is integrated. The following illustration shows theintegration between the Matlab application and the IRC5 controller. Figure 4 Communication between the model and the controller
  5. 5. Real-time Monitoring and Collision Detection• Real-time monitoring The robot model follows and displays the path ofthe manipulators. Figure 5 Real-time monitoring• Collision detectionThe color of the robot model changes when any ofthe manipulators collides with the other one or withany of the conveyors. Figure 6 Collision detection
  6. 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 detectionThe video of this project can be found from FAST Laboratory’s YouTube channel
  7. 7. Thank you!FAST @ YouTube FAST @ Facebook FAST @ Slideshare
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