Articulated Robot Library

[Kris Geisberger]

I have uploaded the Articulated Robot Library to the Downloads area:
http://www.flexsim.com/community/forum/downloads.php?do=file&id=137

The Articulated Robot object is a niche and advanced user library object. I would like to use this thread to support the existing functionality of the robot. Please read the help documentation provided in the download before posting a question. I have attached a simple palletizer example model that is covered at the end of the help doc.

Even if you are not interested in robots, this object may generate some ideas for your own developments!

Kris

[Lars-Olof Leven]

Hi Kris,

Thanks for a great library this will help in many chases.

I have one question regarding the Gripper Action Time.
How do you add this time to the total time?

When I was testing few things (to see what happens) I noticed that
if I have Path Cycle Time to 4 and Close and Open to 1.5 I get a
total cycle time of 5.5 but if I set Close or Open or both to 0
I get total cycle time to 4.07. I would expect 4.

Also if I have Path time on 4 s and Close to 1.5 and Open to 1.5 I would
expect a total time of 7 and not 5.5.

Lars-Olof

[Tom David]

First of all I like to thank Kris for this really great robot and that he shares this library with us.
Great Job and I really like this robot.
I really appreciate that he shares his work with us and hope that others will do the same.

I build a small model (Demo_RobotHandoff_TD.fsm) with this library and included another robot shape. This shape does not really fix 100% with the robot but in Europe a KUKA robot is more common than a FANUC robot.
I know to give the robots new shapes is quite some effort, for sure if they should fix 100%. So I think if someone likes to have his own shape he should pay Kris to do the job, for sure if he likes it 100%.

You can find my model in the download section.

http://www.flexsim.com/community/forum/downloads.php?do=file&id=138

The KUKA-Shape (directory) must be under \Flexsim4\libraries\ArticulatedRobot\fs3d\KUKA.
But I put it in the archive with the right path.

Anyway, I am busy with some more models which I will upload when I have them finished.

Just one side node. Kris, is it possible that I can not change the End Effector Orientation? I tried to change it from RZ 90 to 0. But it jumps back to 90 if the robot loads an item. Any idea, what I do wrong?

[Lars-Olof Leven]

Hi Tom,

How did you do when you replaced the Fanuc withh KUKA?
Did you only create new files or did do something more?

I am planing to add an ABB robot and want to save some time.

Lars-Olof

[Tom David]

Lars-Olof,

I just replaced the 3D Shapes for every joint. The 3D Shapes I got from Tobias Biemueller so he earns the credits for that.
You can get 3D-Shapes of robots from different homepages from the net. Maybe you need to cut the joints, but in general this works.

I wrote in my post that this is not a 100% solution, because if you change the 3D-Shapes and they have different sizes that you also need to update the kinematics of the robot.
That’s why I said if someone needs a 100% solution, he should pay Kris for it, because it is at least one day of work to change the kinematics. And the robot kinematics is the real know-how of the robot and that’s in the *.dll. ;)

It would be great, if you can put an ABB Shape on the robot, which fits more or less.

I still dream about a model with all the different robot shapes (Fanuc, KUKA, ABB, Motoman, etc.) where they handoff one robot to each other. :D

Good success!

[tobias.biemueller]

Hi Lars-Olof,

yes only create the new .vrml or .3ds files, but you must pay a little bit attention at the sizes of the shapes. Sometimes it doesnt fit exactly cause of different axial points.

I used this Robot for my Visualization (http://www.flexsim.com/community/forum/showthread.php?t=291&highlight=Robot) models (posted view weeks ago).

Additional i must say thats a very good work from Kris and thanks for the pre-sharing of this library.

regards
Tobias

[Lars-Olof Leven]

Hi,

I have tried one of ABB robot and I noticed it will probably take some time to get it okay (not perfect).

As soon I have done the one ABB robot I will uploaded it.
It probably will take some time.

Lars-Olof

[Tom David]

@Tobias
Ups, looks like that we replied nearly at the same time. So I am glad that I mentioned you in my post. :)

@Lars-Olof
Good success with the ABB robot and I am sure you already have an idea what Tobias and me were speaking about. ;)

@Kris
Another side node. In my second model (Demo_RobotKUKA_TD.fsm) I just built it was working with the change of the RZ. I have no idea why it didn’t work in my first model (Demo_RobotHandoff_TD). So in general it seems to work. Maybe just try it yourself in both models. I tried it also when I unprotected the objects but had the same effect. :(


I just uploaded my second small example model for the ArticulatedRobot Library.
It’s again with the KUKA robot and in the same direction of the great visualization of Tobias. Tobias's models look much better, but this gives you an idea how to do it.
The models is called: Demo_RobotKUKA_TD.fsm

http://www.flexsim.com/community/forum/downloads.php?do=file&id=139

Have fun and I looking forward to see more robot models.

[Kris Geisberger]

Lars-Olof,

Yes, Gripper Action Times are added to the end of the total move time or path cycle time, however never will both gripper actions be applied on a single path.

When a path is used for load task type, only the Close action is used.
When a path is used for an unload task type, only the Open action is used.
When a path is called for a task that does not involve a flowitem (TRAVELRELATIVE), the Open action will be added to the end of the path only if specified > 0.

You have pointed out that the were errors when the user specifies a 0 in the action time that is used. I have updated the download with a new version 2.4_6 that handles the insta-gripper situation. This way you can control the entire cycle time of the path with the Path Cycle Time evaluation if desired.

Thanks!

note - only changes made to the movearm label node function

[Kris Geisberger]

Please pay special attention to the red notes in the "How do I create my own Paths" section of the help doc.

Note A: For a given path, use ONLY 2 of the 3 rotations to accomplish the desired orientation. Leave the third rotation set at 0.
Note B: Once you have made this choice, all position rows of a given path must be recorded with the same End Effector Orientation values. Also, Load and Unload End Effector Orientation settings must match.

Choose your End Effector Orientation wisely before recording a path. Unfortunately if you decide later that you want to change the End Effector Orientation of a path, you will have to re-record all position rows with the new orientation. Sometimes you can get away with re-recording only the start and end positions of the path as they are most critical.

To change the End Effector Orientation you will want to have the Path Planner ON.
1. Choose the position row in the combo box, then click View Path Position.
2. Change the orientation values as desired, then click Apply.
3. Press the "Write current joint angles to" button to overwrite the original position row.

[Lars-Olof Leven]

Hi Tom,

What type of KUKA robot do you use?
Do you have link to the robot?

I think it is best if I can find a ABB robot that have the similarly size as the Fanuc and the KUKA robot
then it will be little easier to implement an ABB robot.

There is no problem to found files for ABB robot, they exist under this link http://www.abb.com/product/us/9AAC100735.aspx

Lars-Olof

[Tom David]

Lars-Olof,

I can not remember the type of the robot, but I am sure Tobias still knows it. And I am sure he will also have an idea about the dimensions of this robot.
He got the shape directly from KUKA because they bought this robot. :)

I had a look in the Net and at the KUKA page it seems that you can get the robot shapes.
Here is the link to the German page, but you can also switch to English language.

http://www.kuka.com/germany/de/newsevents/downloads/cadfiles/

To be honest, I tried downloading one shape but was not able to import it to AC3D. I do not have the time in the moment to play around with it. Maybe someone else is more successful than me.

You are right, the best is to find an ABB robot which a similar size will be the easiest. Like said, with other dimensions the kinematics of the robot needs to be changed. And the only one who can do this will be Kris (the master of robots :D).

Anyway, good success with your ABB robot and I hope Tobias will give you the above information as soon as he reads this post. ;)

[tobias.biemueller]

Hi,

i also dont remember what kind of robot it is. Sorry.

What i have done is taking the shapes and modify it with AC3D in that way that it fit to the given axis of the robot.(I have needed 1-15 trials for each shape :() It takes half of a day to do this.
A disadvantage of this method is, that in some situations the angle of the shape do not sit accurate, but for my models it was ok.

Sorry that i cant help you.

Tobias

[Lars-Olof Leven]

Hi,

I will check with Kris if he remember which Fanuc he use, otherwise
I will start using trail and error to get some decent shapes.

Kris:
Do you remember which Fanuc you are using in this library?

Lars-Olof

[Tom David]

Because the Articulated Robot Library is so exiting I put together a third model (which will be the last one for now) and like to share it with the community. :cool:

To be honest if I would have know before how much effort it is to build a pallet robot I would have not built it. For sure not using a flowitem with a texture on it. Anyway, the model is finished after lots of testing.
The model is called Demo_PalletRobot_TD and can be found in the Download section. I used the new library v2_4_6, but I guess my models from yesterday still work, so I do not update them.

http://www.flexsim.com/community/forum/downloads.php?do=file&id=140

Have fun and I really looking forward to see more robot models. :D

[Kris Geisberger]

Lars-Olof,

I re-designed a polygon-light version of a R2000iA/165F to make it faster in Flexsim. In doing so, I think I changed some of the main link dimensions... this was in 2005.
Yes, it's true, I have been playing with this object for years. :o

Kris

[Lars-Olof Leven]

Now I have a starting point.

Hope I can create shapes for an ABB robot.

Lars-Olof

[Lars-Olof Leven]

Hi,

Here comes a ABB robot.

Is is not 100% perfect. I removed 2 things from the robot and also need change the size of one of the shapes.

The ABB directory should be placed under ArticulatedRobot\fs3d\.
Model called ABB Robot.fsm include the ABB robot.

You will find the file under Downloads, called ABB Robot
http://www.flexsim.com/community/forum/downloads.php?do=file&id=145

Lars-Olof

[Ajaz Quddusi]

Good to see the palletizer simulation. I am only a user and would like someone to modify the simulation for me. The requirement is to show 10 robots picking and palletizing the cases of different sizes of milk packaages. How someone can help?




I have uploaded the Articulated Robot Library to the Downloads area:
http://www.flexsim.com/community/forum/downloads.php?do=file&id=137

The Articulated Robot object is a niche and advanced user library object. I would like to use this thread to support the existing functionality of the robot. Please read the help documentation provided in the download before posting a question. I have attached a simple palletizer example model that is covered at the end of the help doc.

Even if you are not interested in robots, this object may generate some ideas for your own developments!

Kris

[Olivier Pellegrin]

Ajaz,

The robot modeling expert is Kris Geisberger but looks to the following link, and let us know if this is this kind of simulation you are requiring:

http://www.youtube.com/user/OPConsulting#p/a/u/1/EZ7ATlxRygI

(play the 4 robot cells video)

I've designed the model with the great support of Kris.

Let us know.

[zhang xin]

we in China cannot see youtube.

[Olivier Pellegrin]

Hi Zhang,

Try to dl this link:

http://www.op-consulting.net/video/4-robot_cells_HD.zip (151 Mo)

Use a FLV player (VLC or Riva).

[Ajaz Quddusi]

Olivier

Yes; I checked out the 4 Robot Palletizer and also dowloaded it for my presentation use.

Now I am looking for a volunteer of Flexsim to customise a similar simulation for me for six robot palletizer stations in a food processing company.

Not sure how does it work in this comunity but I am willing to pay and terms can be settled separately. Check with Kris and if willing let him talk to me to collect more details

[Kris Geisberger]

Hi Ajaz,

Sorry, I've been away for a while. You can contact me directly at krisg@flexsim.com with your project requirements and we will proceed from there.

Kris

[Olivier Pellegrin]

Dear Ajaz,

To answer to your interest on the Flexsim technology, you will find here below the link to a video showing the IRB 660:

http://www.op-consulting.net/video/ABBpub.rar

You can also find this video on our YouTube channel:

http://www.youtube.com/watch?v=jkMjs6yLmpE

I hope this video can show you both the 3D render on Flexsim but especially the customization of the pallet product receiving.

Best regards, Olivier.

[syseo]

Dear Ajaz,

To answer to your interest on the Flexsim technology, you will find here below the link to a video showing the IRB 660:

http://www.op-consulting.net/video/ABBpub.rar

You can also find this video on our YouTube channel:

http://www.youtube.com/watch?v=jkMjs6yLmpE

I hope this video can show you both the 3D render on Flexsim but especially the customization of the pallet product receiving.

Best regards, Olivier.

Dear Oliver Pellegrin.

Thank you for your ABB model.
I have a question about the way of the robot moving to-and-pro.

1) Can you explain how to do in detail?

2) Is it possible for the robot like the transporter to travel on the complex node?

I want to know the way or simple model.

All the best.

[Kenny Macleod]

Does anyone have, or know where to get, graphics files for an ABB's baby robot, the ABB IRC 120.

I've looked in all the normal online places but can't find one. I'm exhibiting at a conference and need it to replicate a real robot in a simulation.

Thanks, Kenny

[Lars-Olof Leven]

Hi Kenny,

Try this link:
http://www.abb.se/product/seitp327/3bbe1d4059f1746cc125768c0038b21e.aspx?productLangu age=se&country=SE&tabKey=7

The models that exist there is in different CAD formats like Step, Parasolid etc. to be able to use them in Flexsim you need a software that can read one of the format and then save in a format that can be used in Flexsim.

Lars-Olof

[Kenny Macleod]

Thanks Lars-Olof, I don't have any converting software so was kind of hoping that someone would be able to point me to 3ds or wrl files.

I'll have a look about for a convertor.

Cheers, Kenny

[RalfGruber]

Kenny,

Maurizio from Italy made me aware of the softare Polytrans from Okino. It can read several CAD file formats (depending on how much money you want to spend on additional importers ;) ) and can export to vrml1.

I took the SolidWorks files from the link Lars-Olof posted and used Polytrans to convert them for you. Its on you to scale it correctly and I am sure, the results can even be better using the hundrets of options to adjust import and export...this was just standard.

Hope that helps.

ralle
aka
Ralf (Flexsim Germany)

[Kenny Macleod]

Wow! Thanks Ralf. If I can get it loaded and working, I'll load it up to the forum as a dowload for all.

Thanks, Kenny

[Anthony Johnson]

Flexsim 5's Animation Creator allows much more flexibility in creating and manipulating object sub-components, and Flexsim's new robot has some automatic calculation capability for the geometry of the robot that Kris' robot didn't have. So I wanted to see how long it would take me to get the IRB120 working in version 5. It took 45 minutes. Not too bad I'd say, although I've done it before, and I know the shortcuts. But nonetheless, 45 minutes is pretty quick in my opinion.

I'm including a simple version 5 robot model that uses the IRB120, including a composite visual .t file that you can just load into another robot if needed, through the General tab under Animations/Visuals.

I want to put together a little video showing the capability of the Animation Creator. Maybe I'll showcase it by doing this robot.

[Kris Geisberger]

Good timing Anthony, just so happens Kenny is looking for the IRB120 right now. I tried to get the geometry closer to the real robot in this .t file.

The first time I posted, I forgot to "Save Base Positions" in Animation Creator before saving .t file. I noticed when I used the undo and the robot joints relocated to old positions.

[Kenny Macleod]

Wow, thanks guys! I'll have a play with it and let you know how I get on.

I have a booth at the Material Handling exhibition, here in Melbourne, which is next to a young robotics guy (robotize.com.au, a good robotics news letter). He has borrowed an ABB 120 that will accept someone's business card, scan it, put it on a pile, then pick up and give them a Robotize card. I'm going to replicate it in Flexsim, maybe 2-3 replications with a question of "How many robots do you need to optimize your process?" .

I'll post the model when complete.

Thanks again, Kenny

[syseo]

Flexsim 5's Animation Creator allows much more flexibility in creating and manipulating object sub-components, and Flexsim's new robot has some automatic calculation capability for the geometry of the robot that Kris' robot didn't have. So I wanted to see how long it would take me to get the IRB120 working in version 5. It took 45 minutes. Not too bad I'd say, although I've done it before, and I know the shortcuts. But nonetheless, 45 minutes is pretty quick in my opinion.

I'm including a simple version 5 robot model that uses the IRB120, including a composite visual .t file that you can just load into another robot if needed, through the General tab under Animations/Visuals.

I want to put together a little video showing the capability of the Animation Creator. Maybe I'll showcase it by doing this robot.

Thanks.

What I want to know is not the Robot in one place fixed but the robot traversing along the networknode on the rail or the path way like video.

So the robot is traversing on the rail or the networknode like AGV and at same time is working to moving the items like robot having the arms.

How can be it controlled?

Regards.

[LINWEIXU]

perhaps you need this like attach

[Olivier Pellegrin]

Dear Syseo,

This ABB robot is designed using a the 6-axis robot object developped by Kris (full available in v5 as standard).

So it is a task executer object (mobile resource) which can execute task sequences like transporter or operator. The only difference is that in the robot, the ASRS or the lift, standard missions are modified to apply the right object behaviors. The TRAVEL task is usually replace by an offset move where flowitems are picking up or dropping off based on the task rank into the task sequence.

In this particular demo case, I've just add a translation move to the robot after it picks up the flow item.

See the task management documentation in the user manual and make a trial with a basicTE (download a sample in this forum. Tom David creates good ones).

To explain it in details it will take too long. I will send you an email.

Best regards,
Olivier.

[syseo]

Thank you for your kind and detail explain about just my question.

I will be waiting for your email.
My email is syseo@scheduler.co.kr

[syseo]

Dear LINWEIXU.

Thank you for your replying and simple sample model for my question.

How can you control the traversing of Robot?
And why does it rotate?

I want to hear your replying.

Regards.

[Kris Geisberger]

If you don't care about deceleration at the end of the traverse you can simply connect the Robot to a node network to allow it to respond to TRAVEL tasks. Use the speed parameters in the Robot's TaskExecuter tab to control the traverse speed.

Otherwise, you could load the Robot into another task executer then write a coordinated task sequence with TRAVELRELATIVE or TRAVELTOLOC tasks for this object to do the traversing. The coordinated task sequence is written in the RequestTransport field of the green conveyor. You can use a BasicTE and choose the first (and only) available pick options for the OnBegin, OnUpdate and OnFinish Offset fields.

To control the robot movements, you can use the Define Motion Paths robot mode... a help file will be available in the final v5 release.

[LINWEIXU]

Dear LINWEIXU.

Thank you for your replying and simple sample model for my question.
How can you control the traversing of Robot?
And why does it rotate?
I want to hear your replying.
Regards.
you can simply connect the Robot to a node network ,then delete all network ,the DefaultNetworkNavigator can control Robot to travel automaticly,then you can use tasksquence( TASKTYPE_PLACEOFFSET )to control the Robot to rotate

[Anthony Timmiss]

All

The attached model uses a 7 axis robot that can hold 2 parts in the gripper. I'm using some sub tasks to make it work but graphically it doesn't look great.

I would like some help or advice on how to make this look more realistic. What should happen is when the robot collects the 2nd part it should move clear of the station rotate joint 4 180 degrees and go in and drop off the first part.

Kind Regards

Anthony

[Anthony Timmiss]

I've managed to achieve what I wanted using the robot object and specifying some custom paths using task sequences. I've posted the model here in case anybody wants to have a look.

I'm really impressed with how this works and it certainly looks effective when the model is running.

The only thing I struggled with was the adding and deleting of rows in the path editor. When adding a row the new row is always added at the bottom of the 'visible' screen, even if this is not the bottom of the actual table. Also I could only ever manage to delete Row1, I could never specify which row I wanted to delete.

Happy Holidays

Anthony

[Kris Geisberger]

Great work Anthony, thanks for the feedback.

The "Delete Row" and "Add New Row" buttons operate on the row that is selected in the combobox (drop-down list) that is found to the right of the "Write current joint angles to" button. The "Add New Row" will insert a row above the selected row. Choose "end" in the row selector to add a row to the end of the table.

Let me know if this is not working for you.