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Robotics Simulator Mass Problem

Hi,

 

I develop a project with Robotics Module 2013

and I have a problem with masses of the links.

 

I have added two projects which is exactly the same except link masses

 

The difference is that, one of them is 1kgs and other is 10kgs.

It can be seen in the xml file.

 

The picture shows it clearly.

 

masses.jpg

 

If you run the VIs, you will recognize that 1kgs link will move

but 10kgs link will not move.

 

I want to control 10kgs link too.

 

Please help me.

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Message 1 of 19
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Hi dncr,

 

Why do you need the Mass links to move?

 

And I wasn't able to see this in your zipped project

 

Regards,

Joel I.
Applications Engineer
National Instruments
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Message 2 of 19
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Hello Joel,

 

I must move it,

because in fact I work on a 5-axis industrial robot manipulator.

 

I must simulate the robot with its real masses(the masses change between 10-5 kgs)

 

I have added two attachments to my first post.

 

To run them;

>unzip them

>run tekeksen.lvproj (Project File)

>click tekeksen in Project Explorer

>open tekeksen.vi

>run the vi

 

Follow these steps for both of them.

 

You will see that, 1kgs-link will move but 10kgs-link won't.

 

Of course you will need Robotics Module 2013 to run the VIs.

 

Thank you

 

 

 

Dinçer Saygılı

Acrome Robotics

Istanbul Technical University

ARI-3 SciencePark

 

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Message 3 of 19
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Hi dncr,

 

Take a look at some of our examples.  Go to Help» LabVIEW Examples...» Robotics» Robotics Simulator» Puma560 Simulator.lvproj

 

Take a look at the program and the .xml code and see if you can either modify this example or see the difference between your code and the example code

 

Regards,

 

Joel I.
Applications Engineer
National Instruments
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Message 4 of 19
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Dear Joel;

 

I have just analyzed the example you offered.

 

But it can not help my problem, because in the XML file(Puma560 Simulator.xml)

it is clear to see that there is no link heavier than 1kgs.

You can also recognize that by opening this XML file in InternetExplorer.

After opening the file, search "mass" by Ctrl+F combination.

 

The motor in simulator can handle these masses easily.

But; in our robot, AcromeOne, links are approximately 7-10kgs!

 


Please check out the XML files which I have attached with my first post.


The motor in simulators, can not move the links heavier than 2kg.

But I need it, because If the masses can not be defined in the simulator correctly, there is no meaning to simulate the robot system.


If I still could not clearly define the what the problem is, I will record a video for it.

 

Thank you for your interest.

 

Dinçer Saygılı

Acrome Robotics

Istanbul Technical University

ARI-3 SciencePark

 

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Message 5 of 19
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Hi dncr,

 

Thank you for clarifying.

 

Let me look into this issue further and hopefully we can get a resolution to this.

 

Joel I.
Applications Engineer
National Instruments
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Message 6 of 19
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Hi Joel,

 

I will be waiting for your answer.

 

Thank you for your interest in my problem

 

Dinçer Saygılı

Acrome Robotics

Istanbul Technical University

ARI-3 SciencePark

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Message 7 of 19
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Hi dncr,

 

Can you upload your CAD model that you used for this simulation?

 

Also, I wanted to mention that I was able to get up to a 5 kg link to move.

 

Regards,

 

Joel I.
Applications Engineer
National Instruments
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Message 8 of 19
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Hi Joel;

 

I have attached the CAD files of the system as SolidWorks Assembly File.

 

But to use them in Robotics Simulator, you must save the project as a VRML file(*.wrl).

 

Here I should note that, the mass of the yellow link could be different.

Because in real system, the AcromeOne Robot Manipulator,

the masses change from one link to another link.

 

I hope you will answer my question.

 

Thank you

 

 

Dinçer Saygılı

Acrome Robotics

Istanbul Technical University

ARI-3 SciencePark

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Message 9 of 19
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Hi dncr,

 

I don't have access to SolidWorks, so it may be beneficial to upload the files instead as *.wrl files.

 

Thanks!

Joel I.
Applications Engineer
National Instruments
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Message 10 of 19
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