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