Robot Arm with Conveyor Belts
- 35 files
- 2759 downloads
Models a robot arm with 5 degrees of freedom and a gripper, along with two conveyor belts. The robot transfers parts from one conveyor belt to the other. One conveyor belt brings the parts to the robot arm, and the other belt transports the parts away from the robot arm. The model includes electrical actuation, supervisory logic, and optimization of end effector trajectory.
Please read the README.txt file to get started.
The robot arm model was created in Onshape and imported into Simscape Multibody.
Visit this File Exchange entry to learn more about Onshape
https://www.mathworks.com/products/simmechanics/onshape.html
The robot arm is based on the youBot.
Find other Simscape examples by searching posts for the keyword "physical modeling"
https://www.mathworks.com/matlabcentral/fileexchange/?term=%22physical+modeling%22
Learn more about MathWorks Simscape Products:
https://www.mathworks.com/physical-modeling/
Cite As
Steve Miller (2019). Robot Arm with Conveyor Belts (https://www.mathworks.com/matlabcentral/fileexchange/61370-robot-arm-with-conveyor-belts), MATLAB Central File Exchange. Retrieved .
Comments and Ratings (14)
Updates
| 1.8.0.0 | Added R2018b version. R19a and R18b versions can be downloaded from File Exchange, contact me for earlier releases. |
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| 1.7.0.1 | Added R2018b version. R18b and R18a versions can be downloaded from File Exchange, contact me for earlier releases. |
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| 1.7.0.0 | Updating contact force library only (v4.1), no changes to robot arm example. |
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| 1.6.0.0 | Added R2018a version. Contact me for earlier releases. |
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| 1.5.0.0 | Updating contact force library only, no changes to robot arm example. |
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| 1.4.0.0 | Added R2017b version. |
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| 1.3.0.0 | Updated to include latest version of Simscape Multibody Contact Forces Library (v3.7). No functional changes to model of robot, conveyor belt, or logic. |
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| 1.2.0.0 | Fixed Run optimization hyperlinks in model; made hyperlinks in demo script Mac compatible. Updates apply to R2016b and R2017a versions. |
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| 1.1.0.0 | Added R2017a version and text for citing submission in other works. |
MATLAB Release Compatibility
Platform Compatibility
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- Physical and Event-Based Modeling > Physical Modeling > Simscape Multibody > Getting Started with Simscape Multibody >
- Physical and Event-Based Modeling > Physical Modeling > Simscape Multibody > Multibody Modeling >
- Physical and Event-Based Modeling > Physical Modeling > Simscape Multibody > Simulation and Analysis >
Tags
Acknowledgements
Inspired by: Simscape Multibody Contact Forces Library
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Robot_Arm_Belts_R18b
Robot_Arm_Belts_R18b/CAD
Robot_Arm_Belts_R18b/CAD/Onshape
Robot_Arm_Belts_R18b/Libraries/CFL_Libs
Robot_Arm_Belts_R18b/Libraries/CFL_Libs/Libraries
Robot_Arm_Belts_R18b/Libraries/CFL_Libs/Libraries/Help
Robot_Arm_Belts_R18b/Libraries/CFL_Libs/Scripts_Data
Robot_Arm_Belts_R18b/Libraries/CFL_Libs/Scripts_Data/Doc
Robot_Arm_Belts_R18b/Libraries/CFL_Libs/Scripts_Data/Extrusions
Robot_Arm_Belts_R18b/Libraries/Pace
Robot_Arm_Belts_R18b/Optim
Robot_Arm_Belts_R18b/Scripts_Data
Robot_Arm_Belts_R19a
Robot_Arm_Belts_R19a/CAD
Robot_Arm_Belts_R19a/CAD/Onshape
Robot_Arm_Belts_R19a/Libraries/CFL_Libs
Robot_Arm_Belts_R19a/Libraries/CFL_Libs/Libraries
Robot_Arm_Belts_R19a/Libraries/CFL_Libs/Libraries/Help
Robot_Arm_Belts_R19a/Libraries/CFL_Libs/Scripts_Data
Robot_Arm_Belts_R19a/Libraries/CFL_Libs/Scripts_Data/Doc
Robot_Arm_Belts_R19a/Libraries/CFL_Libs/Scripts_Data/Extrusions
Robot_Arm_Belts_R19a/Libraries/Pace
Robot_Arm_Belts_R19a/Optim
Robot_Arm_Belts_R19a/Scripts_Data
Robot_Arm_Belts_R18b
Robot_Arm_Belts_R18b/CAD
Robot_Arm_Belts_R18b/Libraries
Robot_Arm_Belts_R18b/Libraries/CFL_Libs/Libraries
Robot_Arm_Belts_R18b/Libraries/Pace
Robot_Arm_Belts_R18b/Resources
Robot_Arm_Belts_R18b/URDF
Robot_Arm_Belts_R19a
Robot_Arm_Belts_R19a/CAD
Robot_Arm_Belts_R19a/Libraries
Robot_Arm_Belts_R19a/Libraries/CFL_Libs/Libraries
Robot_Arm_Belts_R19a/Libraries/Pace
Robot_Arm_Belts_R19a/Resources
Robot_Arm_Belts_R19a/URDF
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Mil Shastri (view profile)
shalakha Bang (view profile)
Hey Steve Miller, I am trying to pick the object which is of uneven shape,I have applied contact forces that keeps the object holded,but I need to pick the object up and place it in its mould,whenever i change the position of gripper it does not take object with it and the object is left at the same position.I have also provided "six degrees of freedom"to the object!!!! can you please give me solution to this?
shalakha Bang (view profile)
please upload R016a version of the model
SOREL (view profile)
Hi Steve Miller Do you have some example about the integration of inverse kinematic code into simulink
Kyaw Htet Naing (view profile)
Steve Miller (view profile)
Hi Varun - your inverse kinematics model could probably be included in the Simulink model. There are blocks for including MATLAB code in the Simulink block diagram. The outputs of that block could then be used in place of the constant blocks I used in the model.
Varun Kaushik Trivedi (view profile)
Hello Steve,
Thank you for replying in detail to my query. I had not posted any details of what I was doing. After reading you reply, I understood the logic. Now, I needed to know, I am planning to input co-odinates instead of joint angles. Is there any way to do that?. What I did is, I have a separate inverse kinematic matlab/simulink solver. I solved through that seperately, as (x ,y z ) co-ordinates as input and got joint angles as output. I put those join angles in Qt in 'manual' mode and got successful simulation. Is there any way in this model to combine it?
Thanks,
Varun.
Steve Miller (view profile)
Hi Varun - to vary the trajectories, it depends which configuration you are in. In the "Default" configuration, accessed by clicking on the hyperlink at the top of the model, the parameters which are used are in the mask for subsystem "youBot_Arm/Input/Control". If you are testing Box Transfer only, MATLAB workspace variables Qt and t are used. This is so we can optimize those values using Fast Restart, which does not permit variables in MATLAB structures (such as YBT_Par.Waypoints....) to be tuned. I hope that helps. --Steve
Varun Kaushik Trivedi (view profile)
How do you vary paramters for simulating different trajectories? modifying PARAM file inputs does not give the desired output.
bl k (view profile)
Xiang Chen (view profile)
Paul Lambrechts (view profile)
Vasco Lenzi (view profile)
Tohru Kikawada (view profile)