Draft manual

IPS 2.0 Robotics educationHM Automation Solution

Education

Basics

Main Window IPS

Drop down MenusToolbar

Control panel

Status bar

SimulationWindow

Output Window

• Static Geometry• Headlight• Active Objects• Simulations• Trash can• Processes

Open example scene barcelona.ips

Main Window IPS

File toolbar• Import• Export scene• Export geometry

View toolbar• Perspective • Parallel/Orthographic view• Std views• Fit selection• Fit scene• Set as scene center• Collision handling on/off• Auto menu

Viewpoint toolbar• Capture view• Captured views

Recorder toolbar• Start/Pause recording• Stop recording• Snap window• Recording settings

Creation toolbar• Create geometry group• Create frame• Create new light source• Create new length measure• Create new angle measure• Create new value measure

Active objects toolbar• Create planning process • Create planning process• Create active group• Create TCP selector• Create TCP• Create pose feature

Navigation in simulation window IPS

Rotation with left mouse buttonTranslation with right mouse button

Zoom in/out with scroll wheel or right+left mouse button

The same commands used in all types of movements / motions for both scene and objects.

Context Menu. Reached by selecting a Static/Rigid Geometry and press Right mouse button anywhere in the Geometry Tree or the Simulation Window.

Editable object Name

Open Placement Editor

Enable/Disable rendering

Use slider to set object transparency

Right click on a static object

Reset all translations and rotations to 0

Enable/Disable objects

Open object Color dialog

Editable object Name

Enable/Disable objects

Reset all translations and rotations to 0

Open object Color dialog

Use slider to set object transparency

Right click on an Active objectContext Menu. Reached by selecting an Active Geometry and press Right mouse button anywhere in the Geometry Tree or the Simulation Window.

Enable/Disable rendering

Navigation / moving of Static objects

Select the static object, press Ctrl+Alt the object coordinate system will be lighted up.Then you can use your mouse on the different axis to move or rotate.

Two ways to translate / rotate an object• Via “Placement editor” (exact)• With Mouse (rough)

“Rough” movement with the mouse according to previous instruction

Rotation with left mouse button

Translation with right mouse button

Zoom in/out with scroll wheel or right+left mouse button

Opportunities to choose coordinate systems for the movement in the Placement editor.• Global (the 0 for the complete assembly)• Parent (the subassembly coordinate system) • Control Frame (self-created Frame)

Navigation / moving of an Active object To move an active object• Via “Placement editor” (exact)

Opportunities to choose coordinate systems for the movement in the Placement editor.• Global (the 0 for the complete assembly)• Parent (the subassembly coordinate system) • Control Frame (self-created Frame)

Select the Active object, press Ctrl+Alt the object coordinate system will be lighted up.You can now use your mouse on the different axis to move or rotate.

To translate/rotate an active object• Via “Control editor” (exact)• With Mouse (rough)

Rotation with left mouse button

Translation with right mouse button

Zoom in/out with scroll wheel or right+left mouse button

Tools for personal settings in IPS

Navigation controls(Help/Navigation Controls)

Hotkey Editor(Edit/Hotkeys)

Exercises

Simulation ex 1. Automatic Task Planning

• Import “barcelona.ips” scene• Import “barcelona_tiles.xml” features• Make sure nothing is selected• Press “Create planning process” button• Enter desired clearance in the “Clearance” text field• Press the “Plan Tasks” button• Press the “Sequence” tab

Simulation ex 1. Manual Sequencing

• Select “Home Position Left” and drag it to the “IRB Left” column

• Do the same with the three features that “IRB Left” can reach

• Now select the time for the path

• Reset the path in the Agent Solution Player

• Run it and see how it looks

• Try drag and drop the different features to different positions for better sequence time

• Now select “Home Position Right” and drag it to the “IRB Right” column

• Also drag and drop three features that “IRB Right” can reach

• Now go through the same procedure as for “IRB Left” and try to obtain as short sequence time as possible

Simulation ex 1. Manual Sequencing• Click on one of the features and different performance

alternatives for the actual agent will appear

• Click through the list of alternatives and take a look at the different configurations

• Double-click on the preferred alternative and it will be marked and you can also see it in the feature name(see below)

Simulation ex 1. Manual Sequencing

Home Position

Inter pathsTiles

• Enter desired clearance in the “Clearance” text field• Select the inter paths to plan and click the “Plan inter paths” button

(If no inter path is selected, all will be planned)• Watch in what way the estimated cycle time have changed

Simulation ex 2. Automatic Sequencing

• Select the estimated cycle time text field• Press “Plan Sequences” button• Press OK in the dialog box

For even better results you can let IPS calculate as good as possible within a given time frame:• Fill in 0 in the gap solution text field• Put in no. of seconds to calculate

Simulation ex 3. Manual Load Balancing and Sequencing

Try to manually load balance and sequencethe proposed features.

In this case, the load balancing is trivial because each feature is reachable by one robot only.

Simulation ex 4. Automatic Load Balancing and Sequencing

• Select all features and agents• Press the “Load balance and seq.” button• Press OK in the dialog box

Now IPS will automatically calculate which features each agent should take. It also calculates the order of the features and how the agent should take the features. It will even automatically calculate collision-free motions between the features. However, the agents still might collide.

Simulation ex 4. Automatic Coordination

• Enter desired clearance between agents in the“Clearance between robots” text field

• Select the agents to coordinate and press the “Coordinate” button

• Press No in the dialog box• The result will appear in the “Coordinated

solutions” list

Simulation ex 4. Automatic Load Balancing and Sequencing, optimized for coordination

• Select all features and agents• Press the “Load balance and seq.” button• Set gap to 0 and the calculation time to run over night• Click the “Path-path collision” check box in the

dialog box• Press OK

Now IPS will automatically calculate which features each agent should take. It also calculates the order of the features and how the agent should take the features and also take care of coordination. It will even automatically calculate collision-free motions between the features. However, the agents still might collide.

• Select the agents and press “Coordinate” button