WOLFRAM SYSTEM MODELER

FullRobot

6 degree of freedom robot with path planning, controllers, motors, brakes, gears and mechanics.

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.

 

Parameters (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)

mechanics

Type: MechanicalStructure

pathPlanning

Type: PathPlanning6

axis1

Type: AxisType1

axis2

Type: AxisType1

axis3

Type: AxisType1

axis4

Type: AxisType2

axis5

Type: AxisType2

axis6

Type: AxisType2