ABB IRB120 robotic arm modelling

[Oğuz Gençer]

Hi Mr. Corke,

 I've started to using rvc toolbox for my robotic arm project. I choosed to work with IRB 120. But there is something that I couldnt understand. 

 I have the model of the robot which I've exported from solidworks to matlab. I want to see this model instead of the sticks. Please correct me if Im wrong but as I understand, I should make a different defining for L1 L2 L3 L4 L5 and L6 junctions.

             theta    d      a      alpha   R(0)/P(1)
L(1) = Link([ 0       0      0      0       0], 'modified');

 In that case, how can I use the Link function in rvc_toolbox ?? 

[Peter Corke]

Not sure I understand the question.  Look at the documentation for Link and SerialLink.

There is currently a bug for plotting robots defined using modified DH parameters.

peter

[Joaquin Fernandez Campo]

I'm having the same problem you're describing. I want to see the 3D model not the sticks. Is there a way to tell the toolbox to plot each part of the model instead of the sticks? Can it be controlled?

[Peter Corke]

Still not sure I understand the question you're both having.  The plot() function only does a stick figure, there is no 3D model (yet)

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[Joaquin Fernandez Campo]

I think what he and I are triying to do is something like this: http://www.youtube.com/watch?v=fa7GwwA3498&list=WLF9BCF63047F50DC0 but with an IRB 120

Any ideas on how to implement this?

Thanks!

[Oğuz Gençer]

  Yes Mr. Joaquin is right about my question ;) I exactly want to do the same thing at the http://www.youtube.com/watch?v=fa7GwwA3498&list=WLF9BCF63047F50DC0  with IRB 120. For this situation, If there is something to do additional, please let us know.

 Thanks!!
 

[Peter Corke]

OK, this is pretty cool.  It would take a lot of time to create all the 3D entities, unless there's a simple way to pull models in from DXF or URDF.  I haven't had the patience to build such 3D models...

Best thing would be to write to the guy who did this work.  It's not part of my Toolbox, and I'm not sure whether it's built on top of RTB or not.

It would help if I could read Spanish? and the comments thread on this video.

Would be really happy to work with you to sort this out.

peter

[Joaquin Fernandez Campo]

Mmm tomorrow I'll get back to you, but I believe he uses your toolkit

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[Oğuz Gençer]

  I would like to see my 3d model also but actually its not a big problem for project. I think I will continue to use your toolbox that is helpful so far. And if I need help I'll write you again.

Thanks for your help Peter and Joaquin !!

[Felipe]

Hello Peter, Oğuz and Joaquin.

I've just downloaded the IRB2400 simulator. When I try to run it without your RTB, I get an error. To make it work, I had to run startup_rvc before running the IRB2400 simulator. So, it does use at least some of the RTB functions.

I took a quick look on some of its functions. It has a function called "cad2matdemo.m", in which the author shows a demonstration of how to import a 3D CAD model into Matlab. I believe it can help you!

The IRB2400 simulator files are available here:
https://dl.dropboxusercontent.com/u/44544614/BarazaHaro_Carlos_RobInd.rar

Regards!

[Peter Corke]

I just checked out cat2matdemo on MATLAB Central.  It's actually quite old but seem seems to be popular and rated highly.  But then the hard work is to define the actual robot model.  I will have a look at the archive you gave.

Yesterday I also found

http://arvc.umh.es/arte/index_en.html

which seems similar in some respect.  Curiously both are from Spain, but not sure if they are related.

I'm at IROS in Tokyo right now, and the download speed for both these packages is very slow...

peter

[Peter Corke]

The IRB2400 simulator files are available here:
https://dl.dropboxusercontent.com/u/44544614/BarazaHaro_Carlos_RobInd.rar

He actually includes a version of the RTB v9.5 in the Practicas folder.  

I will have a play with this tool now that I have it.  It could be nice to integrate with RTB in the longer term.

If any of you are going to have a play with it as well, please share your findings with this group.

Thanks for finding this.

peter