Move a mechanical model with a given path

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Michael Bäumler
Michael Bäumler 2016-4-12
评论： Michael Bäumler 2016-4-19
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

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Sebastian Castro
Sebastian Castro 2016-4-12
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
  1 个评论
Michael Bäumler
Michael Bäumler 2016-4-19
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

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