Robotics lll

Technology

UNIT 3 NOVEMBER 2021

ROBOTICS

TEAM

Salvador Pintor Castillo

Marcelo Martínez Raúl

Pérez Muños José

Faz Torres Hilario

Ing. Silva de la Cruz

Jorge Gustavo

SLIDESMANIA.COM

SLIDESMANIA.COM

TEMARY

2021 UNIT 3

NOVEMBER

Cinemática Inversa

V-REP -Inverse-Kinematics

Introduction

1.- Basics on IK groups and IK elements Salvador Pintor Castillo

2.- Conveyor belt Salvador Pintor Castillo

3.- Proximity Sensor (Ray type) Salvador Pintor Castillo

4.- Dummy (Release position and box) Salvador Pintor Castillo

5.- Code for the customizable conveyor Marcelo Martinez Raul

6.- Code for the conveyor belt Marcelo Martinez Raul

7.- Kuka robotic arm (PUMA) Marcelo Martinez Raul

8.- Customizable conveyors script Perez Muñoz Jose

9.- Conveyor belt's script Perez Muñoz Jose

10.- KUKA LBR iiwa 14 R820 Perez Muñoz Jose

UNIT 3

Basics on IK groups and IK elements

CoppeliaSim uses IK groups and IK elements to solve inverse and forward kinematics tasks. It is

important to understand how an IK task is solved in order to take full advantage of the kinematics

functionality in CoppeliaSim. Make sure to have a look at the various example scenes related to IK and FK

in folder scenes/kinematics.

An IK task is defined by an IK group, which contains one or more IK elements:

· IKgroup : an IK group contains one or more IK elements. To solve the kinematics of a simple kinematic

chain, one IK group containing one IK element is needed. The IK group defines the overall solving

properties (such as the solver, the number of iterations, etc.).

· IK element: an IK element represents a simple kinematic chain, which is a linkage containing at least

one joint in IK mode. The chain is specified by a tip, indicating the end-effector (usually the last object in

the chain), and a base, indicating the base object (or first object) in the chain, and a target for the tip to

follow. In short, an IK element is made up by:

· a base, which represents the start of the kinematic chain.

· several links (any type of object except joints in IK mode). Joints which are not in IK mode are however

also considered as links (in that case they behave as rigid joints (joints with a fixed linear/angular

position)).

· several joints. which need to be in IK mode, otherwise they are considered as links (see above).

· a tip. The tip is usually the last object in the considered kinematic chain (when going from the base to

the tip), and is often the end-effector. The tip object should be linked to a target object (see hereafter).

· a target. The target represents the position and/or orientation the tip should adopt (or follow) when

solving for IK. The target object should be linked to a tip object (see hereabove).

Following figures show two kinematic chains as they are described via IK elements. The two IK elements

perceive the two chains in a similar way (the very first joint of the second example is ignored by the IK

element):

PAG. 2


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UNIT 3

PAG. 3

The goal of an IK element (i.e.

resolution of an IK element) is to

have the target followed by the

tip (i.e. having tip and target

overlap, given certain

constraints), by computing the

appropriate joint values for the

kinematic chain:

[Two kinematic chains, each describing an IK element]

[IK element and corresponding model of the IK solving task]

In above example (in 2D for simplicity), we can

specify various constraints for the tip-target pair,

e.g.:

• X positional constraint: the tip would follow the

target only on the X-axis, and the kinematic chain

would appear redundant for this task since the

chain itself has 3 Degrees of Freedom (DoFs).

• X/Y positional constraints: the tip would follow the

target only in position, and the kinematic chain

would still appear redundant for this task.

• X/Y positional + Θ orientational constraints: the

tip would follow the target in position and

orientation, and the kinematic chain would not

appear as redundant anymore for this task.

Note that even for the most basic IK task, an IK

element is solved via the resolution of the

encompassing IK group.

Two separate kinematic chains are handled in an

identical fashion, however this time, two IK groups

are needed (and each one of them should contain

one IK element for each kinematic chain). Solving

order of the two IK groups is usually not important:

Salvador SLIDESMANIA.COM

Pintor Castillo

UNIT 3

[Two separate IK chains and corresponding model of the IK solving tasks]

PAG. 4

In above example, should

target2 be attached to a mobile

part of the first kinematic chain,

then the solving order becomes

important and the IK group1

should be solved first (solving

result will displace target2 as

can be seen from following

figure):

[Two separate IK chains, where the target of the second chain is attached to the first

chain, and corresponding model of the IK solving tasks]

A similar case can appear when one IK element is built on top of another IK element, without sharing any

common joint as can be seen from following figure: the first kinematic chain is indicated in black, the second

in light blue. Base2, indicated in purple, is the common object between the two chains. Solving IK element2

won't displace the purple link, however solving IK element1 will displace it. For that reason IK group1 has to be

solved before IK group2 as in above case (solving order is important):

[Two IK chains sharing one

common link but no common

joints and corresponding

model of the IK solving tasks]


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UNIT 3

PAG. 5

[Two IK chains sharing one common joint and corresponding model of the IK

solving task]

A more difficult case appears when two or more kinematic chains share common joints. In that case

sequential solving doesn't work most of the time (in following example, the two IK elements tend to rotate the

common joint into opposite directions) and a simultaneous solving method is needed. To simultaneously solve

several IK elements, just group them into one common IK group. This case is illustrated in following figure:

Conveyor belt

A conveyor belt or belt

conveyor is a continuous

transport system

consisting of a continuous

belt moving between two

drums. Generally, the belt

is dragged by the friction

of its pulleys, which in turn

is driven by its motor.

Their use and

maintenance

is

economical as long as an

efficient installation is

carried out and the right

conveyor belt is chosen for

the industrial activity in

which it is applied. With

their design,

these automated conveyor

belts can fit virtually

anywhere, making them an

ideal choice for

standardizing complete

installations.

DESIGN COMPLICATIONS

Problems range from a

lack of sufficient space for

the conveyor within the

plant, to poor design and

materials used in its

manufacture. To choose

which conveyor belt is the

most suitable we have to

take into account the

product, speed and

process for which it will be

used.

Salvador SLIDESMANIA.COM

Pintor Castillo

NOVEMBER 2021 PAG. 6

SOME OF IT’S UTILITIES

Are used to move

goods and products

that require greater

stability or that due to

their size or

characteristics cannot

be transported with

roller conveyors. Belts

can also act as

processing points from

which the items or

products to be

conveyed are operated.

The operation of a

conveyor belt consists

of the movement of a

continuous physical

support, the belt,

mounted on platforms

of variable dimensions

and which can have

different types of

accessories

Transporting products that are too

heavy to be lifted manually.

To avoid injuries to workers due to

repetitive movements and to avoid

damage to the products caused by

the movement.

BASIC COMPONENTS

The belt

One of the main materials is

rubberized fabric, mainly derived

from rubber. We can also find

plastic modular belts

Pulleys or pulleys

The pulleys are the rollers that, with

their rotation, cause the belt to

advance due to the friction of the

belt on them.

Conveyors are one of

the most flexible types

of

industrial

equipment, and when

properly specified and

installed, can greatly

improve productivity,

efficiency and safety.

Speed can be variable

with a variable speed

drive.


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STRUCTURE

Frames on which the conveyor belt is mounted and moves are usually made of a

metalic structure

Conveyors cannot be

used as a work surface,

cannot be used to

present parts to a

robot, and cannot

buffer or sequence

parts. But their

simplicity makes them

one of the most

common types of

conveyors available.


Proximity Sensor (Ray type)

• Don't allow detections if distance

smaller than:

some sensors have a minimum detection distance

(e.g. ultrasonic sensors) from which the sensor won't

be operating anymore (i.e. the object to be detected is

too close from the sensor). To model this behavior,

one could simply set an offset for the detection

volume, but by doing so the sensor will still be able to

detect other objects that are located farther away. A

real sensor would have its "view field" blocked by the

closer object and not detect anything. This can be

modeled by indicating a minimum detection distance

(a mask distance) that, if undershot, would simply

disable detection.

• Randomized ray detection:

Randomized ray detection is available only

for randomized ray type proximity sensors.

During randomized ray detection, a ray will

sweep a cone-shaped volume in a random

fashion. You can specify how many random

rays the sensor should check (ray count),

and how many ray detections are required

to trigger the sensor (ray detections count

for triggering).

• Pyramid-type:

The pyramid-type proximity sensor is

ideally suited for simple modeling of a

proximity sensor with a detection volume

that is rectangular. They are very fast.

• Cylinder-type:

The cylinder-type proximity sensor is

ideally suited for simple modeling of a

proximity sensor with a detection volume

that is revolute. They are very fast.

• Disk-type:

The disk-type proximity sensor allows

precisely modeling of a proximity sensor

with a revolute-scanning detection volume.

Depending on the selected precision and

operation mode, they can be a little bit

more calculation intensive.

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[Two proximity sensors, one without mask distance

(left), the other with mask distance (right)]

• Cone-type:

The cone-type proximity sensor allows for

the best and most precise modeling of

most proximity sensors. Depending on the

selected precision and operation mode,

they can be a little bit more calculation

intensive.


UNIT 3 PAG. 8

In the scene object properties dialog, click the Proximity sensor button to display

the proximity sensor dialog (the Proximity sensor button only appears if the last

selection is a proximity sensor). The dialog displays the settings and parameters

of the last selected proximity sensor. If more than one proximity sensor is

selected, then some parameters can be copied from the last selected proximity

sensor to the other selected proximity sensors (Apply to selection-buttons):

[Proximity sensor dialog]

• Enable all proximity sensors:

Enables or disables the proximity sensor

functionality for all proximity sensors.

• Explicit handling:

Indicates whether the sensor should be explicitely

handled. If checked, the sensor will not be handled

when

sim.handleProximitySensor(sim.handle_all_except_e

xplicit) is called, but only if

sim.handleProximitySensor(sim.handle_all) or

sim.handleProximitySensor(proximitySensorHandle)

is called. This is useful if the user wishes to handle

the sensor in a child script rather than in the main

script (if not checked the sensor will be handled

twice, once when

sim.handleProximitySensor(sim.handle_all_except_e

xplicit) is called in the main script, and once when

sim.handleProximitySensor(proximitySensorHandle)

is called in the child script). Refer also to the section

on explicit and non-explicit calls.

• Sensor subtype:

Select the most suited sensor type for your

application. Available types include: ultrasonic,

infrared, laser, inductive and capacitive. This setting

has no direct effect on how the proximity sensor will

operate, it will simply discard some entities from

detection that were not tagged as detectable by

ultrasonic sensor or detectable by laser for instance.

Entities can be individually tagged in the object

common properties (check/uncheck any item in the

Detectable properties-section).


• Entity to detect:

Allows specifying what entity should be detected.

Remember that only appropriately tagged

detectable objects will be detected.

• Show volume parameters:

Toggles the proximity sensor volume dialog. That

dialog allows to customize a proximity sensor's

detection volume.

• Show detection parameters:

Opens the proximity sensor detection parameter

dialog. That dialog allows to customize various

detection parameters.

• Show volume when detecting:

Displays or hides the detection volume when the

proximity sensor detects something.

• Show volume when not detecting:

Displays or hides the detection volume when the

proximity sensor doesn't detect anything.

• Sensing point size:

The size of the sensing point. This has no effect

on calculations (the sensing point, even if

displayed big, is always considered as a point).

• Colors:

Allows adjusting the color of the various elements

of a proximity sensor.

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NOVEMBER

2021 PAG. 9

Dummy (Realse position and box)

In the scene object

properties dialog, click the

Dummy button to display

the dummy dialog (the

Dummy button only

appears if the last

selection is a dummy). The

dialog displays the

settings and parameters

of the last selected

dummy. If more than one

dummy is selected, then

some parameters can be

copied from the last

selected dummy to the

other selected dummies

(Apply to selectionbuttons):

[Dummy dialog]

• Linked dummy:

Dummy linked to this one. Linked dummies (easily recognizable by a colored segment linking

them, in the scene hierarchy) have special properties and behavior, see next item for more

details.

• Link type:

the link type will specify the behavior of the linked dummies during simulation. If Dynamics,

overlap constraint is specified, then the two dummies will try to overlap their respective

position/orientation to create dynamics loop closure constraints (refer to the section on

designing dynamic simulations for more details).

• Object size:

Size of the dummy. This parameter has only a visual effect, and no functional meaning.

• Adjust dummy color:

Allows adjusting a dummy's color

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Code for the customizable

conveyor

Beyond offering the world’s largest and leading line of standard conveyors, Dorner also manufactures

modified standard conveyors and complete custom conveyor systems. Our custom conveyor systems

are designed to meet the needs of our customers requiring specially made conveyor solutions to

achieve optimal efficiency and productivity in their businesses.

With Dorner, you’ll have access to a wide variety of custom-built integrated conveyor solutions and

controls to automate and optimize your business’ processes. On top of realizing these improvements,

imagine your business reducing waste and facing less downtime with Dorner’s high-tech solutions in

place.

Having conveyor solutions that are molded for your business’ exact workflow is critical. Your

production line’s performance affects your bottom line. With custom-designed conveyor systems in

place, your products will be processed faster, your services will be delivered faster and your profits

will increase by embracing our highly specialized engineering technology.

Dorner’s state-of-the-art manufacturing facility enables us to build custom conveyor systems quickly

and cost effectively. In fact, Dorner is unrivaled in the delivery speed of custom conveyor systems.

Dorner also offers start-to-finish installation and training services along with maintenance planning

for your custom conveyor systems.

TYPES CUSTOM CONVEYOR SYSTEMS

1.-Conveyor Solutions for Work Holding & Elevation Changes

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When it comes to

holding parts to the

belt for elevation

changes or controlled

positioning, this can be

achieved in a variety of

ways. Depending upon

the application and

product, Dorner

conveyors that make

use of magnets,

vacuum, cleats or

fixtures are available in

a number of

configurations.

•Magnetic Conveyors

•Vacuum Conveyors

•Special Cleated

Conveyors

•Fixtured Conveyors

Marcelo Martinez Raul


2.-Product Flow Conveyor Solutions

Controlling the

continuous flow of

products through the

line is a critical part

to maintaining peak

efficiency. Product

flow can be achieved

using a variety of

methods and

components

depending on the

product, flow path

and equipment.

•Diverters, Pushers and

Gates

•Merging

•Lane Guiding

Positioning Conveyor Solutions

Product positioning

when stopping is

often a necessity for

processes such as

inspection, assembly

and/or feeding

items

into

equipment. This

critical function can

be achieved using

different Dorney

conveyor solutions

depending on the

accuracy required.

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•Servo Drives

•Timing Belt

Conveyors

•Shaft Encoders



Code for the conveyor belt

•Whether supplying domestic or international export markets, you can count on our expertise for

superior fresh arrivals. Fresh produce technology is the leading global provider of postharvest

solutions, and is uniquely positioned to serve you with advanced technologies and services

whatever you need and wherever you may be located.

•We understand the challenges packers are faced with when trying to supply superior fruit year

after year at the retail level. With each pack line so distinct, each fruit so unique, and each market

so specific, achieving top quality arrivals require dynamic packing strategies. We recognize the

vital need for a spectrum of coating products that can address your specific requirements

throughout the season. Browse through our line of coating products, and with help from our

technical service team we are sure you’ll find one or more to suit your needs.

•JBT has been a leader in providing packing houses with innovative equipment solutions and

industrial parts for over 80 years. The JBT Equipment and Engineering team has over 50 years of

combined experience in designing lines for almost any commodity. Whether you are packing

citrus, stone fruit, pome fruit, pineapples tomatoes, dates, avocados and more, JBT is your trusted

equipment partner.

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•With JBT you can be sure that you can achieve the optimal balance to meet your yield, quality and

throughput goals while ensuring food safety, extending the shelf-life of your products and

producing at the lowest possible per unit cost.


UNIT 3 PAG. 13

Equipment

•Durable equipment engineered for years of production.

•Custom designs specific to your commodity.

•Modular components for product that requires flexible packing options.

•Varying levels of food safe designs to meet your specific application.

•Ongoing aftermarket sales and service support.

In that code, the conveyor belt velocity is taken from the attached script simulation parameter

conveyorBeltVelocity. So instead, you could take it from a float signal. Instead of:

do

Then, on your remote API client side, you can change that velocity with simxSetFloatSignal"

class="postlink">simxSetFloatSignal('conveyorBeltVelocity', theVelocity)

You can also send data to V-REP in various other ways, e.g. with simxCallScriptFunction"

class="postlink">simxCallScriptFunction

If you need to move to a specific position, then you could instead send the desired position to the

conveyor belt, which will run as long as the position has not yet been reached.

Cheers

Marcelo SLIDESMANIA.COM

Martinez Raul


KUKA ROBOTIC ARM (PUMA

kUKA offers numerous variants of industrial

robots with the most diverse load capacities and

different ranges. Our product offering also

includes the right peripherals, from linear drive to

end effector. In combination with the most

progressive software and innovative control units,

we develop individual solutions with you for your

production processes. It does not matter whether

it is about reaching the maximum speeds behind

the protective fence of your facility or a mobile

solution for your Industrie

4.0 requirements or direct collaboration between

man and machine in human-robot operation.

Do you want to quickly integrate our solutions and

increase your productivity? With KUKA

ready2_solutions we supply you with

preconfigured products that make your work

easier. All solutions can be quickly and easily

integrated into existing concepts and guarantee

you future-proof, high- performance production.

KUKA Ready Pack - Unbeatable benefits in one package

Depending on your needs, select a model from our reputable robot families, a preconfigured control unit, a

manual override device and a software with accessories of your choice and you have an unbeatable team.

As preconfigured packages, KUKA Ready Packs combine selected and powerful KUKA products with short

delivery times * and the best conditions. And of course with guaranteed KUKA quality.


Customizable conveyor’s script

A conveyor is an object that moves materials or

other objects, such as a conveyor belt that carries

items through a production line.

While real-life conveyors are made of many parts, a

conveyor in Roblox can be made with just one part.

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1.Insert a new block part.

2.Use the Scale tool to resize the part into a long

conveyor.

3.Anchor the part (this step is critical, even if the

part will be prevented from moving through other

means).

Perez Muñoz Jose

SLIDESMANIA.COM

Perez Muñoz Jose


Speed and Direction

A conveyor’s speed and direction is

determined by its

AssemblyLinearVelocity, an internal velocity

which transfers to objects that touch the

anchored conveyor part.

Note that the assigned speed/direction is relative to world space, not relative to the part. This means

that if the conveyor part is rotated, the linear velocity will not update to reflect the new orientation.

Dynamic Calculation

To more accurately set the speed and direction of the conveyor, regardless of its orientation, follow

these steps:

Insert a new Attachment at each end of the conveyor and rename them AttStart and AttEnd respectively.

Objects on the conveyor will move in a linear direction from start to end.

Make sure that the attachments are centered along each end of the part, such that an imaginary line

between them would align with the intended direction..


Conveyor belt's Script

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Perez Muñoz Jose


KUKA LBR iiwa 14 R820

Media flange options

The kinematic structure

of the LBR iiwa conceals

the power supply of the

external components.

The power supplies are

available as an electrical

or pneumatic installation.

All media flanges have a

drilling template

according to DIN ISO

9409-1-50-7-M6.

Minimal reaction time

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Thanks to its articulated stress sensors, the LBR iiwa detects contacts immediately and reduces force and

speed if they occur. It is capable of handling sensitive components without leaving shear marks or squeezing

thanks to its position and flexibility regulation.

Perez Muñoz Jose


With learning ability

Choose between three service modes and program the LBR iiwa by simulation: Show it the desired position, it

will memorize the coordinates of the trajectory point. For any pause, interrupt it and control it through simple

contact gestures.

Sensitive

As a lightweight robot with high performance regulation, the LBR iiwa detects contours quickly and with

regulated force. It detects the correct mounting position and mounts the parts with the highest speed and

precision and an axis-specific moment precision of ± 2% of the maximum moment. The LBR iiwa detects the

smallest parts in no time even without your help.

The power supplies are available as an electrical or pneumatic installation. All media flanges have a drilling

template according to DIN ISO 9409-1-50-7-M6.

Autonomous

The KUKA Sunrise Cabinet control unit of the LBR iiwa makes commissioning easy even for complex tasks.

Make it the human's third hand and let it perform cumbersome and monotonous tasks reliably and

autonomously.

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Perez Muñoz Jose

Robotics lll

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