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Robot Cell Modeling and Collision Detection
Based on Matlab•Date: Oct, 2012•Course: TTE-5707 Special Assignment in Factory Automation @ FAST-Lab.
Contact information
Tampere University of Technology,
FAST Laboratory,
P.O. Box 600,
FIN-33101 Tampere,
Finland
Email: [email protected]
www.tut.fi/fast
Special Assignment in Factory Automation (coursework)
Title of the presentation: Robot Cell Modelling and Collision Detection Based on Matlab
Authors: Xiangbin Xu (Int. M.Sc. Programme in Machine Automation)
Dr. Andrei Lobov (Assoc. Professor)
Prof. Jose L. Martinez Lastra, Dr.Sc.
If you would like to receive a reprint of the original paper, please contact us
Robot Cell Modeling and Collision Detection Based on Matlab
Xiangbin Xu (Int. M.Sc. Programme in Machine Automation)
Supervisors:
Dr. Andrei Lobov (Assoc. Professor)
Prof. Jose L. Martinez Lastra, Dr.Sc.
Tampere University of Technology, FinlandFactory Automation Systems and Technologies Laboratory
Motivation• Robot cell modeling is beneficial for trajectory planning and the control process of the
industrial robots.• Real-time monitoring provides handy access to the current status of the industrial
robots• Collision detection helps prevent the manipulator from colliding with the other one or
the conveyors.• ABB IRB 140 is one of the most widely used industrial robots. It has 6-DOF with six
revolute joints.
The figures show the actual
robot cell and its model.
Figure 1 Actual robot cell Figure 2 Robot cell model
GUI and Communication
• Graphic user interface
A graphic user interface as shown in the figure
on the right is developed for selecting the default
layout of the conveyors or defining customized layout.
• Communication between the model and the robot controller The robot controller is connected to a PC through Ethernet. For the Matlab robot
model application, ABB PC SDK is integrated. The following illustration shows the
integration between the Matlab application and the IRC5 controller.
Figure 3 Graphic user interface
Figure 4 Communication between the model and the controller
Real-time Monitoring and Collision Detection
• Real-time monitoring The robot model follows and displays the path of
the manipulators.
• Collision detection The color of the robot model changes when any of
the manipulators collides with the other one or with
any of the conveyors.
Figure 5 Real-time monitoring
Figure 6 Collision detection
Summary
• The robot cell model and collision detection are realized by using Matlab
• The robot model is created with the help of the Robotics Toolbox
• ABB PC SDK is integrated for the communication between the model and
the robot controller
• The path and collision of the manipulators are displayed
• A user interface is developed for the reconfiguration of the layout of the
conveyors so that the cell model can be modified and updated, the
manipulators then use updated cell model for collision detection
The video of this project can be found from FAST Laboratory’s YouTube channel
Thank you!
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