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In complex robot installations, for example in the case of collaborating robots as in this figure, it is necessary to make use of accurate off-line programming software using the same robot control software as in the installation.
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One key competence for robot manufacturers is robot control, defined as all the technologies needed to control the electromechanical system of an industrial robot. By means of modeling, identification, optimization, and model-based control it is possible to reduce robot cost, increase robot performance, and solve requirements from new automation co...
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... as in the programming tool, which is especially dif- ficult with respect to singularities, robot configuration control, trajectory interpolation, and servo reference calculations. The most accurate solution to this prob- lem is to run the same motion control software in the off-line software as in the robot controller RobotStu- dio (2009), see Fig. 7. To implement this solution it is very important to have an accurate administration of the software version in such a way that every controller update of robot models and robot control algorithms is also made in the off-line programming ...
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Citations
... Je nach Problemstellung gibt es viele Interpretationen, wie die Systemgrenzen eines Robotersteuerungssystems definiert werden [15]. Für industrielle Roboter werden in der Regel alle Technologien, die zur Steuerung des Roboters benötigt werden, zusammengefasst als Steuerungssystem bezeichnet [16]. ...
Zusammenfassung
Die steigenden Anforderungen der Produktionstechnik nach flexiblen und trotzdem wirtschaftlich effizienten Anlagen stellt die Automatisierungstechnik vor große Herausforderungen. Die Umstellung von beispielsweise einer Roboterzelle auf ein neues Produkt muss dabei schnell und aufwandsarm möglich sein. Die Steuerungssysteme, sowie die zugehörigen Engineering Methoden, müssen zunehmend intelligent und lernfähig werden, um möglichst viele der bisher manuellen Aufwände selbstständig zu übernehmen. Die Simulationsumgebung für eine Virtuelle Inbetriebnahme stellt eine geeignete Lernumgebung dar, in der das Steuerungssystem, mit Methoden des maschinellen Lernens, automatisch trainiert werden kann. Dafür müssen die Simulationswerkzeuge erweitert und möglichst standardisierte Schnittstellen geschaffen werden.
... 1,2 The control of manipulator based on dynamic model could give full play to potential of the system and improve 1 Beijing Institute of Aeronautical Materials, Beijing, China 2 School of Mechanical and Electronical Engineering, Heze University, Heze, China 3 Hong Kong-Zhuhai-Macao Bridge Authority, Zhuhai, China dynamic performances, so as to obtain a better effect than the control based on kinematic model. 3,4 At present, the dynamic modeling methods of manipulators mainly include vector mechanics based on momentum and analytical mechanics based on energy. The calculation processes of the dynamic equations constructed by the vector mechanics method are complex, and the constraint torques should be obtained. ...
The control based on dynamic model could improve the dynamic performance of manipulators and obtain better control effects than the control based on kinematic model. As manipulators are complex online multivariable systems, there are various uncertainties in different environments and working conditions. Accurate dynamic parameters are difficult to obtain in practical engineering applications. In this article, a controller is designed by combining the precise control torques obtained by the analytical dynamics method with the compensation control torques obtained by sliding mode method for trajectory tracking of the manipulator with bounded uncertainty. Precise control torques obtained from the Udwadia–Kalaba modeling method could be applied for the control of the ideal manipulator tracking the desired trajectory. Compensation control torques obtained from the sliding mode concept and the Lyapunov stability theory could be applied to compensate the uncertainties of parameters and external disturbances, thus enhancing the robustness of the system. By combining precise control torques with compensation control torques, the end point of the manipulator with uncertainty could track the end of the ideal manipulator and then track the desired trajectory. The simulation results of the three-link manipulator with uncertainty show that the control method can make the controlled target approach the desired trajectory in relatively small torque ranges and obtain high stability accuracy, and the chattering is effectively reduced at the stage of approaching the sliding mode surface.
... This is primarily governed by the Servo-Mechanisms (SMs) embedded in the robots joints, consisting of a servomotor and a speed reducer [2,9]. The major problems with the servomotors and related drive systems are: (i) curve tracking error [10,11], (ii) unmodeled high order electromechanical effects [12] and (iii) torque ripples [13]. The first can partially be addressed by implementing adaptive control laws [14], whereas the remaining ones require the definition of proper compensation strategies [15]. ...
The Servo-Mechanisms (SMs) mounted in industrial robots joints are a major source of positioning accuracy errors. To improve robots precision performance, researchers have been focusing on the development of novel SMs design and control strategies, which need extensive experimental analyses to tune their parameters. In this context, the scope of this paper is double: first, to present the novel experimental apparatus and methods designed to improve the accuracy of the transmission performance evaluation of high dynamics SMs and, secondly, to report and discuss the achieved experimental results. In the first part, a description of the test rig tuning operations is given, primarily focusing on the signals synchronization and on the elimination of the measuring errors caused by the mechanical transmission elasticity and the servomotor torque ripples. Then, control strategies for compensating the torque ripples and input speed errors are defined. It is shown that speed oscillations can be reduced of ≈70% when rotating the servomotor up to 2000rpm, improving the measurement quality of the reducer performance. In the second part, a set of experiments is carried out to assess the combined effect of input speed and lubricant temperature on the reducer behavior. The system sensitivity to the variation of the input parameters is confirmed by the dynamic lost motion curves, whose mean value equals 16.8'' and 35.4'' when the reducer is operated at its minimum and maximum friction load respectively. At last, the extrapolated harmonic content is used to build a simple mathematical model of the reducer transmission error.
... Accuracy of EE movement along these trajectories in automatic mode is defined by the accuracy of all actuators, which track desired values of generalized coordinates. This problem is well known, and, today, there are a lot of methods which can provide high-accuracy control of IR actuators [1][2][3][4][5][6]. ...
This paper proposes a method for the identification of kinematic parameters of multilink series industrial robots, which does not require the use of complex and expensive equipment for high-precision external measurements of the position and orientation of an end effector in a Cartesian coordinate system. This method, by means of simple and affordable tools, enables us to achieve a significantly increased accuracy of movement of end effectors in serial robots performing various technological operations. The proposed method is experimentally verified and can be applied directly in production lines.
... The industrial robot servo system (IRSS) is the execution unit that completes the specific trajectory movement of industrial robots. Its main task is to make the driving device output the corresponding torque, speed and position according to the control instructions from the control system, so that the industrial robot can respond to the external changing load flexibly and complete the specified tasks (Brogardh 2009). Therefore, the IRSS directly affects the movement speed, positioning accuracy, bearing capacity and operating performance of industrial robots, and it is the core component of industrial robots (Yuan et al. 2019). ...
This study examined the test scheduling optimization problem of industrial robot servo system (IRSS) samples with unequal numbers of different types of test items on the multiple IRSS comprehensive test platforms with the same function. In order to improve IRSS performance test efficiency, a multi-station test scheduling optimization method, which combines IRSS sample-level scheduling and test item-level scheduling, was proposed. First, the IRSS sample-level scheduling was carried out, and a model was established with reference to the identical parallel machine problem (IPMP). The optimal result of IRSS sample-level multi-station scheduling was obtained by solving the model. Second, based on the result of IRSS sample-level multi-station scheduling, and taking the ideal optimal test completion time of IRSS multi-station scheduling as the target, the test items at the stations were reallocated to obtain the optimal scheduling result. Finally, an application example was used to verify the efficiency of the proposed method, and the experiment result showed that the proposed method can effectively fulfill the optimal allocation of different IRSS test items of multiple IRSS samples on multiple IRSS comprehensive test platforms. The test time was 247 min shorter than the conventional sequential parallel test and only one min longer than the ideal optimal test completion time.
... Redundancy in kinematics means * Corresponding author. Email: zhan.li@swansea.ac.uk that the number of DoF in joint space is larger than that in Cartesian space (e.g., the typical applications such as industrial and medical robots [14,15]). Redundancy in dynamics means that the number of DoF in actuation space is larger than that in joint space (e.g., over-actuated systems such as human muscular-skeletal systems [16,17]). ...
Redundant manipulators are widely utilized in numerous applications among various areas in industry and service. Redundant manipulators take advantage of their inherent or acquired redundancy to achieve certain benefits in kinematic control. Different from non-redundant manipulators, optimization paradigms are more likely to be established and may be more efficient for kinematic control issues in redundant manipulators. In this paper, we revisit the perspective and methodology on constrained optimization paradigms for kinematic control of redundant manipulators.
... Typical examples of repetitive tasks are bin picking and packaging in warehouses and assembly for the automotive industry. Most of these industrial robots are position controlled, to ensure a high accuracy and high precision of end-effector motion [5], which has implications to their tasks and capabilities. Practically speaking, a position-controlled robot is designed to execute repetitive and predefined motions without any external disturbances. ...
... Well-known initiatives are RoboCup@Work , Amazon Picking Challenge (APC), European Robotic League (ERL) -Professional and the ADvanced Agile ProducTion (ADAPT) competition , and competitions organized at international events, such as the Robotic Grasping and Manipulation Competition at the IEEE/RSJ International Conference on Intelligent Robots and Systems and the Assembly Challenge at the World Robot Summit. 5. https://atwork.robocup.org ...
Recent developments in robotics and deep learning have enabled high-level robotic tasks to be learned from simulated or real data. In this chapter, the task of robot grasping is covered, where a robot manipulator learns a grasping model from perceptual data, such as RGB-D or point clouds. The chapter is presented in context of robotics for agile production, thereby providing requirements and limitations that are relevant for deep learning in robotics. An overview of different approaches is given with special attention to the evaluation of robotic object grasping and the potential follow-step of object manipulation. In addition, a list of data sets is provided that utilize simulation to generate training data for object grasping.
... As a consequence, these kinds of IRs exhibit uncertain drivetrain dynamics, which necessitate robust control approaches [23]. Hence, P-PI cascade control with motor-side position and velocity feedback [10] is still commonly used in the industry [24]. Recently, so-called secondary encoders (SEs) for joint-side position measurement gained popularity in the industry. ...
p>The drivetrain flexibility of industrial robots limits their accuracy. To open up new areas of application for industrial robots, an increased dynamic path accuracy has to be obtained. Therefore, this paper addresses this issue by a gain-scheduled drive-based damping control for industrial robots with secondary encoders. For this purpose, a linear parameter-varying (LPV) model is derived as well as a system identification method is presented. Based on this, a gain-scheduled drive-based LPV damping control design is proposed, which guarantees stability and performance under variation of the manipulator configuration. The control performance of the approach is experimentally validated for the three base joints of a KUKA KR210-2 industrial robot. The approach realizes a trade-off between ease of implementation and control performance as well as robustness.</p
... As a consequence, these kinds of IRs exhibit uncertain drivetrain dynamics, which necessitate robust control approaches [23]. Hence, P-PI cascade control with motor-side position and velocity feedback [10] is still commonly used in the industry [24]. Recently, so-called secondary encoders (SEs) for joint-side position measurement gained popularity in the industry. ...
p>The drivetrain flexibility of industrial robots limits their accuracy. To open up new areas of application for industrial robots, an increased dynamic path accuracy has to be obtained. Therefore, this paper addresses this issue by a gain-scheduled drive-based damping control for industrial robots with secondary encoders. For this purpose, a linear parameter-varying (LPV) model is derived as well as a system identification method is presented. Based on this, a gain-scheduled drive-based LPV damping control design is proposed, which guarantees stability and performance under variation of the manipulator configuration. The control performance of the approach is experimentally validated for the three base joints of a KUKA KR210-2 industrial robot. The approach realizes a trade-off between ease of implementation and control performance as well as robustness.</p
... Learning cost and time loss will arise for different interfaces and software of each manufacturer's robot. Moreover, the requirements related to the control development of the robot's motion performance result in utilization of simulation and model-based control of industrial robotic applications to enhance the productivity (Brogårdh, 2009). ...
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freedom commonly revolute (6R) manipulators with six degrees of freedom commonly used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R 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a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des used in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is desused in the industrial field and to obtain a simulation test environment as output. 3D model of 6R manipulator is des ig ned and ned and ned and ned and ned and ned and drawn using a solid drawing and simulation software. 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The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. 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The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated drawn using a solid drawing and simulation software. The obtained model is transferred to MATLAB™ integrated SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer SimMechanics™. With the obtained data output, forward and inverse kinematic calculations are performed in computer env environment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tesironment instead of the manipulator controller. The functionality simulation and designed visual interface (VI) is tes ted ted using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socketusing the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket using the IRB120 6R manipulator. The data transfer between interface and manipulator is performed via TCP / IP socket communication.ommunication.ommunication.ommunication.ommunication.ommunication. ommunication.ommunication.
