WOLFRAM SYSTEM MODELER
FullRobot6 degree of freedom robot with path planning, controllers, motors, brakes, gears and mechanics. |
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Diagram
Wolfram Language
In[1]:=
SystemModel["IndustryExamples.IndustrialManufacturing.IndustrialRobot.FullRobot"]
Out[1]:=
Information
Path Planning and Control of an Industrial Robot
Introduction
This is a six degrees of freedom robot with path planning, controllers, motors, brakes, gears, and mechanics.
Simulation
To simulate the robot and view a 3D animation of it, follow the steps below:
- Click the
button in the top-right corner. - When the build is finished, click the Simulate button
. - Click the Animate button
.
Instant Plotting
Compare the planned trajectory for one of the robot's axes with the simulated controlled path by plotting their respective variables.
To plot the variables, follow the steps below:
- Simulate the model by clicking the Simulate button
.
A preffered stored plot will automatically be displayed, showing reference speed values for the different axes, as well as the actual speed values. There are multiple stored plots showing only individual axes. Opening the stored plot SpeedOfAxis1(referencevsMeasured), you will see the plot below.
Real-Time Simulation
It is possible to synchronize the simulation with real time. To do this, click the Settings tab in Simulation Center and choose the Synchronize with real-time option.
Terms and Conditions of Use
Terms and Conditions of UseParameters (37)
| mLoad |
Value: 15 Type: Mass (kg) Description: Mass of load |
|---|---|
| rLoad |
Value: {0.1, 0.25, 0.1} Type: Position[3] (m) Description: Distance from last flange to load mass |
| g |
Value: 9.81 Type: Acceleration (m/s²) Description: Gravity acceleration |
| refStartTime |
Value: 0 Type: Time (s) Description: Start time of reference motion |
| refSwingTime |
Value: 0.5 Type: Time (s) Description: Additional time after reference motion is in rest before simulation is stopped |
| startAngle1 |
Value: 0 Type: Real (°) Description: Start angle of axis 1 |
| startAngle2 |
Value: 60.0 Type: Real (°) Description: Start angle of axis 2 |
| startAngle3 |
Value: 90 Type: Real (°) Description: Start angle of axis 3 |
| startAngle4 |
Value: 0 Type: Real (°) Description: Start angle of axis 4 |
| startAngle5 |
Value: 90 Type: Real (°) Description: Start angle of axis 5 |
| startAngle6 |
Value: 45 Type: Real (°) Description: Start angle of axis 6 |
| endAngle1 |
Value: 120 Type: Real (°) Description: End angle of axis 1 |
| endAngle2 |
Value: 20 Type: Real (°) Description: End angle of axis 2 |
| endAngle3 |
Value: 60.0 Type: Real (°) Description: End angle of axis 3 |
| endAngle4 |
Value: 0 Type: Real (°) Description: End angle of axis 4 |
| endAngle5 |
Value: 0 Type: Real (°) Description: End angle of axis 5 |
| endAngle6 |
Value: 90 Type: Real (°) Description: End angle of axis 6 |
| refSpeedMax |
Value: {2, 1.5, 5, 3.1, 3.1, 4.1} Type: AngularVelocity[6] (rad/s) Description: Maximum reference speeds of all joints |
| refAccMax |
Value: {15, 15, 15, 60, 60, 60} Type: AngularAcceleration[6] (rad/s²) Description: Maximum reference accelerations of all joints |
| kp1 |
Value: 5 Type: Real Description: Gain of position controller |
| ks1 |
Value: 0.5 Type: Real Description: Gain of speed controller |
| Ts1 |
Value: 0.05 Type: Time (s) Description: Time constant of integrator of speed controller |
| kp2 |
Value: 5 Type: Real Description: Gain of position controller |
| ks2 |
Value: 0.5 Type: Real Description: Gain of speed controller |
| Ts2 |
Value: 0.05 Type: Time (s) Description: Time constant of integrator of speed controller |
| kp3 |
Value: 5 Type: Real Description: Gain of position controller |
| ks3 |
Value: 0.5 Type: Real Description: Gain of speed controller |
| Ts3 |
Value: 0.05 Type: Time (s) Description: Time constant of integrator of speed controller |
| kp4 |
Value: 5 Type: Real Description: Gain of position controller |
| ks4 |
Value: 0.5 Type: Real Description: Gain of speed controller |
| Ts4 |
Value: 0.05 Type: Time (s) Description: Time constant of integrator of speed controller |
| kp5 |
Value: 5 Type: Real Description: Gain of position controller |
| ks5 |
Value: 0.5 Type: Real Description: Gain of speed controller |
| Ts5 |
Value: 0.05 Type: Time (s) Description: Time constant of integrator of speed controller |
| kp6 |
Value: 5 Type: Real Description: Gain of position controller |
| ks6 |
Value: 0.5 Type: Real Description: Gain of speed controller |
| Ts6 |
Value: 0.05 Type: Time (s) Description: Time constant of integrator of speed controller |
Connectors (1)
 |
controlBus |
Type: ControlBus |
|---|
Components (8)
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mechanics |
Type: MechanicalStructure |
|---|---|---|
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pathPlanning |
Type: PathPlanning6 |
 |
axis1 |
Type: AxisType1 |
|
axis2 |
Type: AxisType1 |
|
axis3 |
Type: AxisType1 |
 |
axis4 |
Type: AxisType2 |
|
axis5 |
Type: AxisType2 |
|
axis6 |
Type: AxisType2 |