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RobotStudio® Tutorial – Getting Started 2/5

Operating manual – RobotStudio

GitHub – rparak/ABB-RobotStudio-Tutorial-Simple: Demonstration of some simple examples in ABB RobotStudio.

ABB Robot Tutorials

https://yandex.com/search/?text=ABB+robot+studio+tutorial&lr=101458&clid=1836588

https://www.robots.com/articles/robot-programming-with-abbs-robotstudio-1

https://yandex.com/video/preview/6973516100809102022

https://www.abb.com/global/en/areas/robotics/products/software/robotstudio-suite/robotstudio-tutorials

9AKK107045A3920_ROBOTSTUDIO_revC.indd

GitHub – msilaev/ABBRobotStudio

! https://ochafik.com/openscad2
color("Green") cylinder(r=10, h=50, center=false);
translate([10, 0, 0]) color("#88AACC") cube(20);
translate([10, 0,30]) color("#88AACC") cube(20);

ABB RobotStudio Example Program

https://computeraidedautomation.com/infusions/articles/articles.php?article_id=43

/

/https://www.youtube.com/watch?v=UQrS6OWtc7Q

https://docs.mech-mind.net/en/robot-integration/latest/standard-interface-robot/abb-example-program.html

/https://www.youtube.com/watch?v=2AANOqm8Kfg

Programm pendanti abil

Kahe avaga plokk

Liikumine

Robot Programming ABB Introducing a line of motion code IRC5 Flex Pendant Prog Basic #1

Robot Programming ABB Introducing a line of motion code IRC5 Flex Pendant Prog Basic #1 – YouTube

https://www.youtube.com/watch?v=oaA9w-KB9wk

https://yandex.com/video/preview/7340732474535180734

ABB Robot Studio Tutorial: Definition of Work-object Frames in ABB Robot Studio – watch online in Yandex video search

How to Define Path and Move Robot Along a Path in ABB Robot Studio – YouTube

ABB Robot Quaternion Calculator

RobotStudio® Tutorial – Getting Started 1/5

Bing Videos

https://www.bing.com/videos/riverview/relatedvideo?q=rotation%20with%20quaternion%20example&mid=EB827E9977FF9F75ADC3EB827E9977FF9F75ADC3&ajaxhist=0

https://www.omnicalculator.com/math/quaternion

https://quaternions.online

// https://ochafik.com/openscad2

h1 = 4;
d1 = 2;

module axis(name){

    translate ([0, 0, + (h1/2 + 3 * (4 + h1/2))]){
        translate ([2, -2, 0])
        rotate([90, 0, 0])
        linear_extrude(1)
        text(name, size = 4);

        cylinder(h=h1, r=0.5, center=true, $fn=50);
        }


    translate ([0, 0, + (h1/2 + 2 * (4 + h1/2))])
    cylinder(h=h1, r=0.5, center=true, $fn=50);

    translate ([0, 0, + (h1/2 + 4 + h1/2)])
    cylinder(h=h1, r=0.5, center=true, $fn=50);

    translate ([0, 0, +h1/2])
    cylinder(h=h1, r=0.5, center=true, $fn=50);

    translate ([0, 0, -h1/2])
    cylinder(h=h1, r=0.5, center=true, $fn=50);

    translate ([0, 0, - (h1/2 + 4 + h1/2)])
    cylinder(h=h1, r=0.5, center=true, $fn=50);

    translate ([0, 0, - (h1/2 + 2 * (4 + h1/2))])
    cylinder(h=h1, r=0.5, center=true, $fn=50);
    }


color("Blue"){
    axis("Z");
    }

color("Red"){ 
translate ([0, 0, 0])
rotate([0, 90, 0])
    axis("X");
    }

color("Green"){ 
translate ([0, 0, 0])
rotate([-90, 0, 0])
    axis("Y");
    }



module hoop(){
translate([0, 0, 450])
rotate([0, 90, 0]){
    color("#3333AA")
       rotate_extrude(angle = 180, convexity = 10)
          translate([250, 0, 0])
             circle(r = 4);

        color("lime")
            rotate([0, 0, 180])
                rotate_extrude(angle = 180, convexity = 10)
                    translate([250, 0, 0])
						circle(r = 4);
    }
}

module stave(){

	color("YellowGreen"){
		rotate([0, 90, 0])
		cylinder(800, 4, 4);
		}
}


color("tan") {
    translate([1000, 0, 200]){
        sphere(20, $fn=50);
	translate([30, -30, 20])
	rotate([90, 0, 0])
	linear_extrude(2)
		text("P_10", size = 10);}

    translate([1000, 250, 450]){
		translate([30, -30, 20])
			rotate([90, 0, 0])
				linear_extrude(2)
					text("P_20", size = 10);
		sphere(20, $fn=50);
		}

    translate([1000, 0, 700]){
		translate([30, -30, 20])
			rotate([90, 0, 0])
				linear_extrude(2)
					text("P_30", size = 10);
        sphere(20, $fn=50);}

    translate([1000, -250, 450]){
		translate([30, -30, 20])
			rotate([90, 0, 0])
				linear_extrude(2)
					text("P_40", size = 10);
        sphere(20, $fn=50);}
    }

color("green") {
    translate([1500, 0, 200])
        sphere(20, $fn=50);

    translate([1500, 250, 450])
        sphere(20, $fn=50);

    translate([1500, 0, 700])
        sphere(20, $fn=50);

    translate([1500, -250, 450])
        sphere(20, $fn=50);
    }

color("cyan") {
    translate([700, 0, 200])
        sphere(20, $fn=50);

    translate([700, 250, 450])
        sphere(20, $fn=50);

    translate([700, 0, 700])
        sphere(20, $fn=50);

    translate([700, -250, 450])
        sphere(20, $fn=50);
    }


translate([700, 0, 0])
	hoop();

translate([1000, 0, 0])
	hoop();

translate([1500, 0, 0])
	hoop();

translate([0, 250, 450])
	translate([700, 0, 0])
		stave();

translate([0, -250, 450])
	translate([700, 0, 0])
		stave();

translate([0, 0, 200])
	translate([700, 0, 0])
		stave();

translate([0, 0, 700])
	translate([700, 0, 0])
		stave();

//	https://ochafik.com/openscad2
//	axes

h1	= 4;
d1	= 2;
n 	= 6;

module axis(k, name) {

	translate([0, 0, +(h1 / 2 + k * (d1 + h1))]) {
		if (name != "0") {
		translate([2, -2, 0])
			rotate([90, 0, 0])
				linear_extrude(1)
					text(name, size = 4);
			}
		cylinder(h = h1, r = 0.5, center = true, $fn = 50);
		}
	}
module ax(name) {
	for (a = [0 : 1 : n - 1]) {
		axis(a, "0");
	}
	axis(n, name);
	for (a = [0 : 1 : n - 1]) {
		axis(a - n, "0");
	}}
color("#AA0000")
rotate([0, 90, 0])
	ax("X");

color("#00AA00")
rotate([-90, 0, 0])
	ax("Y");

color("#0000AA")
	ax("Z");

/

rotate([0, 0, 45])
	rotate([0, 45, 0])
		color("#222288")
			ax("D1");

rotate([0, 0, 45])
	rotate([0, 60, 0])
		color("#222288")
			ax("D2");

rotate([0, 0, 45])
	rotate([0, 30, 0])
		color("#222288")
			ax("D3");

liikumine 60->70->80->90->100
 p60 = [      0,       1, 0, 0] = [cos(180/2), sin(180/2), 0, 0] pööre ümber x- i x telje tipust vaadates päripäeva 180 (abs)
 p70 = [0.25882, 0.96593, 0, 0] = [cos(150/2), sin(150/2), 0, 0] pööre ümber x- i x telje tipust vaadates päripäeva 150 (abs) 
 p70 = p80 30 vastupäeva
 p80 = [0.5    , 0.86603, 0, 0] = [cos(120/2), sin(120/2), 0, 0] pööre ümber x- i x telje tipust vaadates päripäeva 120 (abs)
 p80 = p70 30 vastupäeva
 p90 = [0.70711, 0.70711, 0, 0] = [cos( 90/2), sin( 90/2), 0, 0] pööre ümber x- i x telje tipust vaadates päripäeva  90 (abs)
 p90 = p80 30 vastupäeva
p100 = [0.76604, 0.64279, 0, 0] = [cos( 80/2), sin( 80/2), 0, 0] pööre ümber x- i x telje tipust vaadates päripäeva  80 (abs)
p100 = p90 10 vastupäeva

pööre 40 ümber x- i = (+40) = [cos( 40/2), sin( 40/2), 0, 0] = [0.93969, 0.34202, 0, 0]

	p100 * (+40) = [0.76604,0.64279,0,0] * [0.93969, 0.34202, 0, 0] = [0.5, 0.86603, 0, 0] = p80
	( https://www.omnicalculator.com/math/quaternion )

MODULE Module1
	CONST robtarget p10:=[[800,200,1100],[0.5,0,0.86602544,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p20:=[[800,200,1100],[0.70712,0,0.70712,0],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p30:=[[800,200,1100],[0.70712,0.70712,0,0],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p40:=[[800,200,1100],[0.92388,0.38268,0,0],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p50:=[[800,200,1100],[0.707107,7.47086E-10,0.707107,-1.85805E-09],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p60:=[[1000,176.78,626.78],[0,1,0,0],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p70:=[[1000,176.78,626.78],[0.25882,0.96593,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p80:=[[1000,176.78,626.78],[0.5,0.86603,0,0],[0,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p90:=[[1000,176.78,626.78],[0.70711,0.70711,0,0],[0,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p100:=[[1000,176.78,626.78],[0.76604,0.64279,0,0],[0,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
	CONST robtarget p110:=[[821.52,197.50,1049.08],[0.569344,0.0980948,0.816226,4.57284E-7],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
    !***********************************************************
    !
    ! Module:  Module1
    !
    ! Description:
    !   <Insert description here>
    !
    ! Author: hav
    !
    ! Version: 1.0
    !
    !***********************************************************
    
    
    !***********************************************************
    !
    ! Procedure main
    !
    !   This is the entry point of your program
    !
    !***********************************************************
    PROC main()
        MoveL [[806.29,0.00,1154.00],[0.5,8.4755E-9,0.866025,4.89333E-9],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]], v1000, z50, tool0;
        MoveL p60, v1000, z50, tool0;
        MoveL p70, v1000, z50, tool0;
        MoveL p80, v1000, z50, tool0;
        MoveL p90, v1000, z50, tool0;
        MoveL p100, v1000, z50, tool0;
        MoveL p10, v1000, z50, tool0;
        MoveL p20, v1000, z50, tool0;
        MoveL p30, v1000, z50, tool0;
        MoveL p40, v1000, z50, tool0;
    ENDPROC
ENDMODULE

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