Tool change and fixed orientation of tool in industrial simulation

Typically: "How do I... ", "How can I... " questions
Post Reply
altella
Posts: 11
Joined: 04 Jun 2019, 14:01

Tool change and fixed orientation of tool in industrial simulation

Post by altella » 12 Jun 2019, 11:16

Dear all,

A student of mine is trying to simulate an industrial procress using a Kuka robot in VRep.
We are stuck solving two things which are common in industrial setups: A tool chage operation and a linear movement with the robot tool mantaining a fixed orientation.

Related to tool changing, we found this topic in the forum:
http://forum.coppeliarobotics.com/v ... .php?t=623

My student has tried to follow instructions to change the tool of the robot, and initially has commented that they work if the union robot-tool is for the complete simulation. We would like to change the tool in the middle of the simulation, this is, grab the part with a gripper and then change tool and drill the part. Can this be done in vrep?

For robot orientation we found this other topic:
http://forum.coppeliarobotics.com/v ... ?f=9&t=575

Again, my student says this works if the part has no "parent", if he follows the procedure, he places the tool with a fixed oriention with respect to the last joint of the robot, and them moves with the robot. How to perform a linear movement in Z with a fixed orientation of the tool?

Thank you in advance for your help,
best regards,

Alberto

coppelia
Site Admin
Posts: 7396
Joined: 14 Dec 2012, 00:25

Re: Tool change and fixed orientation of tool in industrial simulation

Post by coppelia » 14 Jun 2019, 13:15

Hello,

yes, you can change object parenting also when simulation is running. If your end-effector (or tool) is dynamically enabled, you will probably have to reset that model appropriately, as explained here for instance.

If you want to follow a particular path (e.g. a straight line) and/or keep a specific tool orientation, you will have to work with IK.

Cheers

Post Reply