Move a mechanical model with a given path

Hello,

I want to move a mechanical model (6-axis robot) on a given path.

I have given the following robot path data. How can I implement these position and movement data (only a extract) to my mechanical model in SimMeachanics?

Short desciption what the coordinates mean:

s="253760.0" l="-7807.0" u="1682.0" r="681.0" b="76141.0" t="97956.0" / = s (position axis 1), I (axis 2), u (axis 3), r (axis 4), b (axis 5), t (axis 6) all in local axis coordinate (unit in milli degree => 10e-3)

x="-444.042" y="77.211" z="570.306" rx="-0.6628" ry="0.561" rz="179.039" type="0.0" / => in cylindrical coordinate

Here the given paht:

   <graph startPosition="start">
    <!--start and idle coordinates-->
    <position name="start" isSafe="True">
        <pulseCoordinate s="253760.0" l="-7807.0" u="1682.0" r="681.0" b="76141.0" t="97956.0" />
        <baseCoordinate x="-444.042" y="77.211" z="570.306" rx="-0.6628" ry="0.561" rz="179.039" type="0.0" />
        <connection destination="wp_sP_iP" speed="5" coordinateSystem="PULSE"/>
    </position>
    <position name="wp_sP_iP" isSafe="False">
        <pulseCoordinate s="85685.0" l="-91096.0" u="-55912.0" r="680.0" b="46705.0" t="97956.0" />
        <baseCoordinate x="82.382" y="130.444" z="428.097" rx="3.1276" ry="23.0302" rz="66.8224" type="0.0" />
        <connection destination="start" speed="5" coordinateSystem="PULSE"/>
        <connection destination="idle" speed="1" coordinateSystem="PULSE"/>
    </position>
    <position name="idle" isSafe="True">
        <pulseCoordinate s="78072.0" l="-83221.0" u="-74844.0" r="2112.0" b="-37154.0" t="97434.0" />
        <baseCoordinate x="141.883" y="179.855" z="178.451" rx="173.2265" ry="44.7588" rz="-139.4011" type="1.0" />
        <connection destination="beltTakeWait" speed="10" coordinateSystem="PULSE"/>
        <connection destination="beltPutWait" speed="10" coordinateSystem="PULSE"/>
        <connection destination="UCM1Wait" speed="10" coordinateSystem="PULSE"/>
    </position>

Here an small extract from the mechanical model:

Thank you for your help!

Kind regards

Michael

Answer 1

[Sebastian Castro]

As I commented on one of your previous questions, you can use motion actuation to achieve this:

http://blogs.mathworks.com/simulink/2013/11/13/motion-actuation-in-simmechanics-r2013b/

There is another good shipping example of this in SimMechanics, which relates to a welding robot arm following a path. Check it out!

http://www.mathworks.com/examples/simmechanics/mw/sm_product-sm_welding_robot-computing-actuator-torques-using-inverse-dynamics

- Sebastian

[Michael Bäumler]

Hallo Sebastian,

thank you for that information.

In my case i will use the "Inverse Dynamics: Motion specified by Input and Automatically Computed Torque".

In this mode, motion is generated by input and torque is generated automatically.

My problem is, I do not understand how to "feed" the my model with angel and velocity and coordinate data. Means, i do not know how to generate the motion. Can you help me with this problem?

Kind regards Michael