The robot is an industrial manipulator with two arms. Demonstration of several examples in ABB RobotStudio to control the collaborative robot YuMi (IRB 140000). Once the task scheduling is complete, the focus of the model is shifted to controller design and system verification, which requires more complex system dynamics models. This block simulates the manipulator motion given joint-space reference trajectories under a stable controller with predefined response parameters. For this portion, a straightforward model that simulates quickly desirable, so the system dynamics are modeld using the Joint Space Motion Model block.
The system dynamics can be modeled with different levels of fidelity, depending on the aim of the overall model.įor this example, during the task scheduler design, the aim is to ensure the scheduler behaves correctly under the assumption that the robot is under stable motion control. This defines how the robot moves given a set of reference trajectories and a boolean gripper command (open or closed). The system dynamics portion models the robot behavior. This includes the robot configuration state at any instant, what the goal position is, whether the gripper should be open or closed, and the current trajectory being sent to the robot. This example only uses a single arm.The task scheduling and trajectory generation portion defines how the robot traverses through the states. The robot is an industrial manipulator with two arms. The product also offers a generous list of components which can be used to simulate a robot or its sensors, actuators, grippers and more. For this portion, a straightforward model that simulates quickly desirable, so the system dynamics are modeld using the Joint Space Motion Model block. RobotStudio is a powerful development suite created by ABB and is focused on industrial robot simulation and offline programming. The task scheduling and trajectory generation portion defines how the robot traverses through the states.
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