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2 D. Chablat / S. Amine -- Institut de Recherche en Communications et Cybernétique de Nantes
• Creating a robotic cell
• Defining “tag groups” and “tags”
• Creating a task
• Playing with the inverse kinematics
• Adding an external axis to increase the workspace
• Defining the value of the external axis
• Creating process information
Create a new process
• Create a new document “type process”
• Activate the workbench “Device Task Definition”
• Save the document as “TP_Robotic_Cell.CatProcess”
Insert the data
• Two types of element to insert:
– The product “part_to_assembly”
– The resources “Arc_mate_120”
“Robo-WH”
(insert Product) (insert Resource)
Mount the tool onto the robot
• Use set tool and rotate 90° to obtain
Test the robot motions
• Move in joint space and Cartesian space
• Find the singular configurations
Create a Tag group
• Hide the robot and the tool to see only the “part_to_assembly”
• We want to assemble the green parts
• We associate the tag group with the product:
• Rename as “green”
Change workbench “Arc welding”
• Change the workbench to access to these functions
Create tags
• Create tag on intersection surfaces
• Assign the group tag “Green”
• Define spacing equal to 20 mm
Create tags
• Make a preview / test parameters “equal spacing”
• Do the same for the upper part with another tag group “red”
Create a task for the robot
• Create two tasks for the robot and rename them “green” and “red”
Add tag to a task
• Use the function “add tag”, select the task and the tag group
Test the trajectory
• If the trajectory is not feasible, you can change manually the location of the robot by using the compass
• Do not forget to save the initial position of the cell
• Active the real-time simulation
• Simulate
• What kind of problem do you meet?
Test the trajectory
• Change the posture to see the impact on the trajectory (NUT to FDT)
Test the trajectory
• Collision detection
• Define two groups:
– Robot and Tools
– Environment
• Activate the detection in “Analysis configuration”
Make optimal robot placement
• Define a box for the location of the base robot
Init of the cell
• Insert product “part_to_assembly”
• Insert resources Arc_mate_120”,“Robo-WH” and “ArcPOSITIONER-120”, “ARCTrack-120”
• Mount the tool with the robot
Move the object
• Goal: Place to “part_to_assembly”
• Tools: Layout toolbar and the compass
Attach the objects
• Move the “part to assembly”
• Move the “robot” to the “track”
• Attach from the “parent” to the “Child”
Create the external axis
• Activate the robot and switch to the workbench “Device building”
• Associate the robot with the “ArcPOSITIONER-120” by using the function Define Auxiliary Device
• Make the same for “ARCTrack-120” as a “track” • Check the motion
Create a New tag group “Line”
• Create tag group and a set of tags
Create a new program
• Create a new task for the robot
• Add Tag
• Problem: Limits of the workspace
Optimization in “Robot Arc Welding”
• Compute Rail / Gantry value
• Robot Positioner Programming Select an interpolation Method
Save initial state!
Add weld action
• There exist several types of welding operations
• We will use a Spot Weld Action
• Add after each motion and define the process information
