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!