Beruflich Dokumente
Kultur Dokumente
Correspondi ng Author:
J. Norberto Pires
Mechanical Engineering Department
University of Coimbra
Polo II Campus, 3030 Coimbra, Portugal
Abstract
In
this
architecture
Win32
was
an
designed
to
work
under
Robotics,
Automation,
Software
Object-oriented
for
Robotics
programming,
and
Matlab
toolbox.
1. Introduction.
industrial
for
distributed
environments,
not
only
using
the
above
DDE Client
Applications
DDE Server
mentio ned
technologies.
OLE
ActiveX
Force/Torque
Sensor Object
Force/Torque
Sensor Board
OLE
ActiveX
Force/Torque
Sensor Object
RPC
Server
Messages
DDE Services
ActiveX
Robot
Communication
Object
DDE Callback
Function
OLE
DDE
Portm
aper
components
Windows
Dialog
OLE
RP
C
Ca
Sy
lls
nc
.A
nsw
ers
Asy
nc. M
sg.
RPC
Server
Programs
alls
CC
RP
ers
nsw
c. A
Syn
ActiveX
Robot
Communication
Object
Win32 Application
called
data
software
http://www.dem.uc.pt/norberto/.
remotely
using
some
calling
and
and
other
related
tools
from
MATROBCOM.
[11].
To
implement
the
PC-Robot
RAPID
Aplication
ans = 0
>> matabbs4 ('program_run', line)
ans = 0
ans =
MATABBS4.
The user should check system state after any system
To open a connection to the robot the command is,
line = 1
ans = 0
Table I - Functions available in the MATABBS4 module [16].
Function
open
close
motor_on
motor_off
prog_stop
Brief Description
Opens a communication line with a
robot (RPC client)
Closes a communicatio n line.
Go to Run State
Go to Standby State
Stop running program
prog_run
prog_load
prog_del
prog_set_mode
prog_get_mode
prog_prep
pgmstate
ctlstate
oprstate
sysstate
ctlvers
ctlid
robpos
read_xxxx
read_xdata
write_xxx
write_xdata
digin
digout
anain
anaout
9.0000e+009
9.0000e+009
9.0000e+009
9.0000e+009
9.0000e+009
9.0000e+009
output 7.
ans = 0
>> matabbs4 ('anain', 2, line) ?
analog input 2.
ans = 3453
? Error code.
Signal is ON
ans =
4.6833e+002
? Cartesian X position.
2.0689e+002
? Cartesian Y position.
1.2061e+003
? Cartesian Z position.
5.2125e -002
? Quaternion (q 1 ).
-2.3500e-001
? Quaternion (q 2 ).
4.3565e -001
? Quaternion (q 3 ).
-8.6733e-001
? Quaternion (q 4 ).
1.0000e+000
ans = 1
ans = 0
Variable is TRUE.
ans = 0
while never_end;
switch decision
end_switch;
end_while;
PROC routine_1
MoveJ to new_pos;
decision = -1;
ENDPROC
the commands,
ans = 0
PROC routine_1
SetAcc n_acc;
SetAcc default_acc;
? OPEN Gripper
decision = -1;
ENDPROC
? MOVE pos_1
? SET Values
? MOVE pos_3
This pick and place operation was used for playing chess
were the robot moves the pieces. The application will be
presented in the conference, and uses different grasp
forces for each type of chess piece. User plays chess with
32.
moves.
4. Timing
um
Computadores
Mechanical
1998;2(1):43-67.
Rob
Manipulador
Industrial
Pessoais",
Engineering
usando
Ibero-American
Association
Magazine,
5. Conclusion.
In this short paper we demonstrated one technique to
interface R&A equipment with personal computers. The
paper focuses on using the Matlab environment to
interface the selected equipment. The solution is based on
a distributed software architecture that may be used to
include support to other type of equipment. In fact other
modules were built with it, not presented in the paper, to
handle force/torque sensors, CCD cameras, PLCs and
microcontrollers. With this type of interface even non-
J.,
"Power
Programming
with
RPC",
IRB1400
Users
Manual,
ABB
Flexible
Automation, 1997.
[10] RAP, Service Protocol Definition, ABB Flexible
Automation, 1996.
[11] Halsall
F.,
"Data
Communications,
Computer
Addison-Wesley, 1992.
[13] Pires
JN,
Controlo
de
Fora
em
Robs
http://www.dem.uc.pt/norberto/seminarios/
References:
[1] Matlab Users Guide, The MathWorks Inc., USA,
http://www.mathworks.com.
[2] Gourdeau R., "Object Oriented Programming for
Suite
2000,
Wonderware
Inc,
USA,
http://www.wonderware.com
[15] ABB
DeskWare,
ABB
Flexible
Automation,
http://www.abb.se.
[16] Pires JN, Using matlab to interface robotic and
automation
equipment,
IEEE
Robotics
And