RobotSim Simulate

• The instructions for the basic operation, please refer RobotSim Basic operations

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Select a robot

• Robotic Type : KUKA KR60-L45-3 Robotunitypackage
  • Payload : 45kg
  • Max. reach: 2230cm
• Gripper : RGN+300-1 Gripper Model

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Build working objects

1. Import KUKA KR60-L45-3、Gripper RGN+300-1

   • Import RobotSim custom package
     

   • Add a Robot
     

   • Add a gripper
     

     • Find the gripper RNG300 on the menu of SampleScene
     • Drag the gripper RGN300 into the scene and set (Position) as (X 0, Y 0, Z 0)

     

     • Rotate Robot w.r.t Y-axis(in Unity) at the center of the robot base with 180 degree such that the robot flange will face the gripper exactly.

     

     • Drag obiect RNG300 into Tool1 and set the flange position at (0, -0.35, 0) such that the center of the flange will match to the center of the gripper RGN300 perfectly.

2. Drawing the working envelope of the robot -To move the robot to observe the reach limitations

   • Build a 3D spherical object
     

   • set the scale
     
     • set meter as the unit
     • For example: the max reach of the robot is 2.23m, we need to set 4.46m as its diameter.
   • set the color
     
     • Choose Materials and drag to Element
   • Likewise, we can build the inner limitation of the robot
3. Build the working space
   • Drawing the wall or user’s defined station boundary

   • Move the robot to analyze the potential risk of interferences

     

     

     • rename Cube as Line and set its length, height and positions …
     • duplicate the Lineabove as the second one, and adjust its parameters
     • Note: the position parameter is the center of the object

     

     • the working space after drawing the boundary

4. Buid the other facilitis or objects -Depending on the project
   -Box set Length: 42CM Width: 29CM Height: 15CM -Put the box on the desired location

    ![Image](/RobotSim_Simulate/image/RobotSim_Position.png)
     - using the **Position** parameter to choose the right place for the box, unit: meter
                                                                                                                         
    ![Image](/RobotSim_Simulate/image/RobotSim_Position_Stacking.png)
    - duplicate the box and change **Position** for more other boxes on different places. Note: the height of the box is 15cm
                                                                                                                     
    ![Image](/RobotSim_Simulate/image/RobotSim_Blue_Box_Disappear.png)
    - Uncheck the object on the upper-right will delete the object from the scene, but still remaining the setting of the object. If needed, click check to use the object again  
                                                                                                                           
    ![Image](/RobotSim_Simulate/image/RobotSim_Complete_Environment.png)
    - After robot motion path analyzing, we layout the robot working space as above
   

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Simulation with teaching points

1. Recording teaching points

   • Using [+Point] to add teaching point

     

     • move robot to the picking position
     • use [+Point] to record the picking point

     

     • duplicate the first picking position and change the height and record as other picking points.

   • Using game object to create new object

     

     • Create an empty GameObject

     

     • Rename object as BlueBox
     • drag points P1～P1(4) to the empty object

     

     • duplicate BlueBox and update P1～ P1(4) inside for other stacks

2. Programming the teaching points

   • use [Programs] for edit

     

     • Choose the motion type from the command menu and add its teaching point such as HomeToGreenSafe, and repaet the procedure for other points to program robot motion in the sequence of motion order.

     

     • Add Gripper command object
     • Step - by - step proceduresRobotSim
       Project

     

     • drag Tool1 to Gripper so the creating object will use tool1 as its tool.
     • Check Lock as object GripperLock(True)
     • Uncheck Lock as object GripperLock(False)

     

     • set GripperLock(True) under the picking point for gripping box
     • set GriperLock(False) under the placing point for releasing box

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Completed simulation