Robot Studio Tutorial 2

Auto Path Generation using Robot Studio 

RobotStudio is a PC application for modeling, offline programming, and simulation of robot
cells. RobotStudio allows you to work with an off-line controller, which is a virtual IRC5
controller running locally on your PC. This offline controller is also referred to as the virtual
controller (VC). RobotStudio also allows you to work with the real physical IRC5 controller,
which is simply referred to as the real controller. When RobotStudio is used with real controllers,
it is referred to as the online mode.


Auto Path Generation Image File:

Video File: How to create a Generation of Auto Path in Robot Studio

https://youtu.be/-ZvXUvyGMFw?list=PLpqFpcNEVirHH2-1-D1sFT3EnZHC5g4JX

Robot Studio Tutorial 1

simple Conveyor Mechanism using Robot Studio software 

RobotStudio is a PC application for modeling, offline programming, and simulation of robot
cells. RobotStudio allows you to work with an off-line controller, which is a virtual IRC5
controller running locally on your PC. This offline controller is also referred to as the virtual
controller (VC). RobotStudio also allows you to work with the real physical IRC5 controller,
which is simply referred to as the real controller. When RobotStudio is used with real controllers,
it is referred to as the online mode.

Image of Conveyor Mechanism:

Video File: How to create a Conveyor Mechanism using Robot Studio software

https://youtu.be/ufX3ntKN114?list=PLpqFpcNEVirHH2-1-D1sFT3EnZHC5g4JX

Robot Kinematic Modeling using Mat lab - GUI

A GUI Based Kinematic Model Development OF 6
DOF Manipulator Using Matlab

Abstract: This Design of a graphical user interface (GUI) is a fine task requiring knowledge of human cognitive behavior, design strategies, and programming skills. In this paper, a GUI has been developed for position analysis of 6 DOF using MATLAB software. The kinematic problem is defined as a transformation from the Cartesian space to the joint space. In this paper, the Denavit Hardenberg (D-H) model representation was used to model links and joints. Both forward & Inverse kinematic were discussed

Keywords: GUI, Denavit Hardenberg Representation, Forward & Inverse Kinematics.

Journal File: https://www.ijedr.org/viewfull.php?&p_id=IJEDR1804080


Video File :

https://youtu.be/TdCJKIm0MP4?list=PLpqFpcNEVirH1VJd7PDXgmwi8jYA_2tmb


Matlab six DOF robot user interface Image:

Matlab Code:
function varargout = Six_R_Robot(varargin)
% SIX_R_ROBOT MATLAB code for Six_R_Robot.fig
%      SIX_R_ROBOT, by itself, creates a new SIX_R_ROBOT or raises the existing
%      singleton*.
%
%      H = SIX_R_ROBOT returns the handle to a new SIX_R_ROBOT or the handle to
%      the existing singleton*.
%
%      SIX_R_ROBOT('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in SIX_R_ROBOT.M with the given input arguments.
%
%      SIX_R_ROBOT('Property','Value',...) creates a new SIX_R_ROBOT or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before Six_R_Robot_OpeningFcn gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to Six_R_Robot_OpeningFcn via varargin.
%
%      *See GUI Options on GUIDE's Tools menu.  Choose "GUI allows only one
%      instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES

% Edit the above text to modify the response to help Six_R_Robot

% Last Modified by GUIDE v2.5 20-Dec-2019 02:22:11

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @Six_R_Robot_OpeningFcn, ...
                   'gui_OutputFcn',  @Six_R_Robot_OutputFcn, ...
                   'gui_LayoutFcn',  [] , ...
                   'gui_Callback',   []);
if nargin && ischar(varargin{1})
    gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
    gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT


% --- Executes just before Six_R_Robot is made visible.
function Six_R_Robot_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% varargin   command line arguments to Six_R_Robot (see VARARGIN)

% Choose default command line output for Six_R_Robot
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

% UIWAIT makes Six_R_Robot wait for user response (see UIRESUME)
% uiwait(handles.figure1);


% --- Outputs from this function are returned to the command line.
function varargout = Six_R_Robot_OutputFcn(hObject, eventdata, handles)
% varargout  cell array for returning output args (see VARARGOUT);
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Get default command line output from handles structure
varargout{1} = handles.output;



function Theta_1_Callback(hObject, eventdata, handles)
% hObject    handle to Theta_1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Theta_1 as text
%        str2double(get(hObject,'String')) returns contents of Theta_1 as a double


% --- Executes during object creation, after setting all properties.
function Theta_1_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Theta_1 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function Theta_2_Callback(hObject, eventdata, handles)
% hObject    handle to Theta_2 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Theta_2 as text
%        str2double(get(hObject,'String')) returns contents of Theta_2 as a double


% --- Executes during object creation, after setting all properties.
function Theta_2_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Theta_2 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function Theta_3_Callback(hObject, eventdata, handles)
% hObject    handle to Theta_3 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Theta_3 as text
%        str2double(get(hObject,'String')) returns contents of Theta_3 as a double


% --- Executes during object creation, after setting all properties.
function Theta_3_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Theta_3 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function Theta_4_Callback(hObject, eventdata, handles)
% hObject    handle to Theta_4 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Theta_4 as text
%        str2double(get(hObject,'String')) returns contents of Theta_4 as a double


% --- Executes during object creation, after setting all properties.
function Theta_4_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Theta_4 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function Theta_5_Callback(hObject, eventdata, handles)
% hObject    handle to Theta_5 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Theta_5 as text
%        str2double(get(hObject,'String')) returns contents of Theta_5 as a double


% --- Executes during object creation, after setting all properties.
function Theta_5_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Theta_5 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function Theta_6_Callback(hObject, eventdata, handles)
% hObject    handle to Theta_6 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Theta_6 as text
%        str2double(get(hObject,'String')) returns contents of Theta_6 as a double


% --- Executes during object creation, after setting all properties.
function Theta_6_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Theta_6 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function Pos_X_Callback(hObject, eventdata, handles)
% hObject    handle to Pos_X (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Pos_X as text
%        str2double(get(hObject,'String')) returns contents of Pos_X as a double


% --- Executes during object creation, after setting all properties.
function Pos_X_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Pos_X (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end



function Pos_Z_Callback(hObject, eventdata, handles)
% hObject    handle to Pos_Z (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Pos_Z as text
%        str2double(get(hObject,'String')) returns contents of Pos_Z as a double


% --- Executes during object creation, after setting all properties.
function Pos_Z_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Pos_Z (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end


% --- Executes on button press in btn_Forward.
function btn_Forward_Callback(hObject, eventdata, handles)
% hObject    handle to btn_Forward (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
Th_1 = str2double(handles.Theta_1.String)*pi/180;
Th_2 = str2double(handles.Theta_2.String)*pi/180;
Th_3 = str2double(handles.Theta_3.String)*pi/180;
Th_4 = str2double(handles.Theta_4.String)*pi/180;
Th_5 = str2double(handles.Theta_5.String)*pi/180;
Th_6 = str2double(handles.Theta_6.String)*pi/180;

L_1 = 0;
L_2 = 80;
L_3 = 70;
L_4 = 50;
L_5 = 0;
L_6 = 0;

L(1) = Link([0 L_1 0 pi/2]);
L(2) = Link([0 0 L_2 0]);
L(3) = Link([0 0 L_3 0]);
L(4) = Link([0 0 L_4 -pi/2]);
L(5) = Link([0 0 L_5 pi/2]);
L(6) = Link([0 L_6 0 0]);



Robot = SerialLink(L);
Robot.name = 'Six_R_Robot';
Robot.plot([Th_1 Th_2 Th_3 Th_4 Th_5 Th_6]);

T = Robot.fkine([Th_1 Th_2 Th_3 Th_4 Th_5 Th_6]);
handles.Pos_X.String = num2str(floor(T.t(1)));
handles.Pos_Y.String = num2str(floor(T.t(2)));
handles.Pos_Z.String = num2str(floor(T.t(3)));


% --- Executes on button press in btn_Inverse.
function btn_Inverse_Callback(hObject, eventdata, handles)
% hObject    handle to btn_Inverse (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
PX = str2double(handles.Pos_X.String);
PY = str2double(handles.Pos_Y.String);
PZ = str2double(handles.Pos_Z.String);

L_1 = 0;
L_2 = 80;
L_3 = 70;
L_4 = 50;
L_5 = 0;
L_6 = 0;

L(1) = Link([0 L_1 0 pi/2]);
L(2) = Link([0 0 L_2 0]);
L(3) = Link([0 0 L_3 0]);
L(4) = Link([0 0 L_4 -pi/2]);
L(5) = Link([0 0 L_5 pi/2]);
L(6) = Link([0 L_6 0 0]);


Robot = SerialLink(L);
Robot.name = 'Six_R_Robot';

T = [ 1 0 0 PX;
      0 1 0 PY;
      0 0 1 PZ;
      0 0 0 1];

J = Robot.ikine(T,[0 0 0],'mask',[1 1 1 0 0 0])*180/pi;
handles.Theta_1.String = num2str(floor(J(1)));
handles.Theta_2.String = num2str(floor(J(2)));
handles.Theta_3.String = num2str(floor(J(3)));
handles.Theta_4.String = num2str(floor(J(3)));
handles.Theta_5.String = num2str(floor(J(3)));
handles.Theta_6.String = num2str(floor(J(3)));

Robot.plot(J*pi/180);



function Pos_Y_Callback(hObject, eventdata, handles)
% hObject    handle to Pos_Y (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Pos_Y as text
%        str2double(get(hObject,'String')) returns contents of Pos_Y as a double


% --- Executes during object creation, after setting all properties.
function Pos_Y_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Pos_Y (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
    set(hObject,'BackgroundColor','white');
end