The document describes a project to interface SolidWorks and LabVIEW to control the motion of an Adept iCobra 600 robot. Key steps included: 1) Designing the robot in SolidWorks and assigning motors to each joint. 2) Developing inverse kinematics code in MATLAB to calculate joint angles from target position inputs. 3) Setting up the robot model in LabVIEW with inputs for target position and outputs for joint angles. 4) Running the LabVIEW program to send joint angle commands to the robot in SolidWorks and achieve the desired end effector position.

1. SOLIDWORKS LABVIEW INTERFACE FOR iCobra 600 ROBOT
Submitted by- Saurabh Deobhankar
UTA id: 1001114694

2.  INTRODUCTION:
 AdeptiCobra600 is a 4 axisSCARA robotsystemformechanical assembly, packaging,material
assembly,andscrewdriving,machinetendingandotherapplicationsthatrequire highprecision
and functioning.The iCobraincludesaSmartMotionControllerwhichenablesittoperformance
highprecisiontasks.
 AdeptiCobra600 has 3 revolute and1 prismaticjoint.
 Joints1, 2, and 4 are revolute andjoint3isprismatic.
 PROJECT SCOPE:
 The scope of thisprojectwasto interface SOLIDWORKSand LabVIEW andto achieve a specific
positionforthe robotby inputtingthroughLabVIEW.
 The aim of thisprojectis to show how the robot can be movedto desiredpositionsbygivingthe
correspondinginputstoLabVIEW.
 OBJECTIVES:
 To understandForwardandInverse Kinematicsof iCobrarobotsystem.
 To studythe basic motionstudyinSOLIDWORKS.
 To developasuitable code forForwardandInverse kinematicsinMATLAB.
 To understandthe basiclogicdevelopmentforthe blockdiagramin LabVIEW.
 To interface SOLIDWORKSandLabVIEW.
 To execute the programandachieve the desiredpositionof the end effector.

3.  PROCEDURE:
 The robot was designedusingSOLIDWORKS.Individualcomponentswere takenfromthe Adept
website andthenassembledmanually.
 Motors were assignedtoeachjointandconstraintswere set.
 UsingSOLIDWORKSmotion,the motionstudywascalculatedfora predefinedperiodof 5secs.
 ThisassemblywasthenassignedtoLabVIEW.
 4 axeswere assignedtothismodel inLabVIEWasshownbelow.
 The code forinverse kinematicsof cobrarobotwas setup in Matlab suchthat it will return
valuesof d3, THETA1, THETA2, and THETA4 forthe correspondinginputvalues px,py,and pz.
 Thisreturns2 valuesof THETA1, 4 valuesof THETA2 and 8 valuesof THETA4 as shownbelow.
MATLAB CODE
syms t1 t2 d3 t4
% t1=pi/6;
% t2=pi/3;
% d3=20;
% t4=pi/4;
T01=mdht (0,0,342,t1)
T12=mdht(425,0,52,t2)
T23=mdht(375,0,d3,0)
T34=mdht(0,0,0,t4)
T04=(T01*T12*T23*T34)
nx=-0.7071;
ax=-0.7071;
ox=0;
px=368.0608;

4. ny=0.7071;
ay=-0.7071;
oy=0;
py=587.5000;
nz=0;
az=0;
oz=1;
pz=414.000
Tdes=[nx ax ox px;ny ay oy py;nz az oz pz;0 0 0 1]
% THETA2@#$@#@$@#@$@#@$@#@$@#@$@$
M=375*cos(t1 + t2) + 425*cos(t1)
N=375*sin(t1 + t2) + 425*sin(t1)
L=simplify(M^2+N^2)
Q=(((px^2+py^2)-321250)/318750)
t2(1)=vpa((atan2((+sqrt(1-Q^2)),Q)))
t2(2)=vpa((atan2((-sqrt(1-Q^2)),Q)))
Theta2(1)=vpa(rad2deg(t2(1)))
Theta2(2)=vpa(rad2deg(t2(2)))
%THETA1 @#$@#$@#$@#$@#$@#$@#$@#$
A1=inv(T01)*Tdes
B1=T12*T23*T34
simplify(A1)
simplify(B1)
t1(1)=vpa((atan2(739.97,1218.66)))
t1(2)=vpa((atan2(-739.97,1218.66)))
t1(3)=vpa((atan2(739.97,-1218.66)))
t1(4)=vpa((atan2(-739.97,-1218.66)))
Theta1(1)=vpa(rad2deg(t1(1)))
Theta1(2)=vpa(rad2deg(t1(2)))
Theta1(3)=vpa(rad2deg(t1(3)))
Theta1(4)=vpa(rad2deg(t1(4)))
%THETA4 @#$@#$@#$@#$@#$@#$
A2=simplify (inv(T01)*inv(T12)*Tdes)
B2=T23*T34
W= ((7071*sin(t1(1) + t2(1)))/10000 - (7071*cos(t1(1) + t2(1)))/10000)
Z=((7071*cos(t1(1) + t2(1)))/10000 + (7071*sin(t1(1) + t2(1)))/10000)
t4(1)=vpa(rad2deg(atan2(Z,W)))
W1= ((7071*sin(t1(2) + t2(1)))/10000 - (7071*cos(t1(2) + t2(1)))/10000)
Z1=((7071*cos(t1(2) + t2(2)))/10000 + (7071*sin(t1(2) + t2(1)))/10000)
t4(2)=vpa(rad2deg(atan2(Z1,W1)))
W2= ((7071*sin(t1(3) + t2(1)))/10000 - (7071*cos(t1(3) + t2(1)))/10000)
Z2=((7071*cos(t1(3) + t2(1)))/10000 + (7071*sin(t1(3) + t2(1)))/10000)
t4(3)=vpa(rad2deg(atan2(Z2,W2)))
W3= ((7071*sin(t1(4) + t2(1)))/10000 - (7071*cos(t1(4) + t2(1)))/10000)
Z3=((7071*cos(t1(4) + t2(1)))/10000 + (7071*sin(t1(4) + t2(1)))/10000)
t4(4)=vpa(rad2deg(atan2(Z3,W3)))
W4= ((7071*sin(t1(1) + t2(2)))/10000 - (-7071*cos(t1(2) + t2(2)))/10000)

5. Z4=((7071*cos(t1(1) + t2(2)))/10000 + (7071*sin(t1(2) + t2(2)))/10000)
t4(5)=vpa(rad2deg(atan2(Z4,W4)))
W5= ((7071*sin(t1(2) +t2(2)))/10000 - (7071*cos(t1(2) + t2(2)))/10000)
Z5=((7071*cos(t1(2) + t2(2)))/10000 + (7071*sin(t1(2) + t2(2)))/10000)
t4(6)=vpa(rad2deg(atan2(Z5,W5)))
W6= ((7071*sin(t1(3) + t2(2)))/10000 - (7071*cos(t1(3) +t2(2)))/10000)
Z6=((7071*cos(t1(3) + t2(2)))/10000 + (7071*sin(t1(3) + t2(2)))/10000)
t4(7)=vpa(rad2deg(atan2(Z6,W6)))
W7= ((7071*sin(t1(4) + t2(2)))/10000 - (7071*cos(t1(4) + t2(2)))/10000)
Z7=((7071*cos(t1(4) + t2(2)))/10000 + (7071*sin(t1(4) + t2(2)))/10000)
t4(8)=vpa(rad2deg(atan2(Z7,W7)))
LABVIEW SETUP
 Onlyone positionof the robotwassimulatedusingLabVIEWinterface.
 Thiscode wasincludedinMATHSCRIPTinLabVIEWwith px, py, and pz as the inputsand d3,
THETA1, THETA2, and THETA4 as the outputs.
 Here d3 was takenas constantentity(=20)
 The jointangleswere calculatedasshowninthe Mathscript.

6.  The outputparameterswere assignedtothe correspondingaxisinthe blockdiagramtoreturn
the positionof eachjoint.
 The velocitywaskeptconstantat 50.
 UsingControl functionpx,py,pz inputswere createdinthe FRONTPANEL
 UsingIndicatorfunctionsd3,THETA1, THETA2, THETA4 outputswere createdaswell inthe
FRONTPANEL.
 Here,px,py,pz are the variablesthatcan be changedand the correspondingoutputparameters
are displayed.
FRONT PANEL
 Now,throughProjectExplorerwindow,the MyComputertab, all 4 axesand the SW Assembly
are deployedsothatSOLIDWORKSisinterfacedthroughLabVIEW.
 Usingthe RUN commandinLabVIEW and START SIMULATION commandinprojectexplorer,the
robot issyncedwithLabVIEWand itachievesthe desiredposition.
 Usingpx,py, pz as the inputs,the outputswere foundtobe:t1=30deg, t2=60deg, t4=45deg and
d3=20.
 The desiredpositionof the endeffectorisshownbelow

7. DESIRED POSTION
 OBSERVATIONS AND VALIDATION:
 Correspondingtothe giveninputs,the outputvaluesare foundtobe appropriate.
 The outputresultswere validatedtobe true byequatingthe resultsgivenbyForward
KinematicsandInverse Kinematics.
 Initiallyusingthetavalues,forwardkinematicswascalculatedforT04 and laterthe inverse
kinematicsgave the similarresultsasthe inputstoForwardKinematicswhichvalidatedthe
experimentcarriedout.

8.  PROBLEMS FACED:
 Motionstudyin SOLIDWORKSwasinconvenientdue tomotionconstrainterror.
 Confusioninunderstandingthe logicof developingBooleanoperationsinLabVIEW.
 Code error insettingupconstraintsinMATHSCRIPT.
 Continual requirementof assignmentof axesinLabVIEWeverytime the solidworksassemblyis
disturbed.
 CONCLUSION:
 SOLIDWORKSand LabVIEWwere successfullyinterfacedby overcomingthe problemsstatedand
the desiredpositionof endeffectorwasachievedcorrespondingtothe giveninputs.