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Title:Pick and place application with KUKA KR16 robot using v-rep (CoppeliaSim) and Matlab
Duration:32:37
Viewed:65,547
Published:20-01-2019
Source:Youtube

Hi ninjas, in this tutorial, I will show you how I created a pick and place simulation with the 6 DOF robot KUKA KR16 using vrep and Matlab. ⚠️𝑪𝒐𝒏𝒕𝒆𝒏𝒕𝒔 : 0- Introduction 0:00 𝑽-𝑹𝑬𝑷 𝒑𝒂𝒓𝒕 : 1- Attach a gripper to the robot flange 1:00 2- Add a conveyor 3:51 3- Set the robot in the inverse kinematic mode 7:22 (changed for the 4.2.0 version) 4- Generate an infinite number of pieces 10:14 𝑴𝒂𝒕𝒍𝒂𝒃 𝒑𝒂𝒓𝒕 : 5- Gripper function 13:13 6- Linear move function 15:47 7- Pick and place function 20:30 8- Main code 24:33 Connecting V-REP with Matlab is essential to do this simulation: https://www.youtube.com/watch?v=7Z01cRw_i5E All the Matlab v-rep functions are available here : http://www.coppeliarobotics.com/helpFiles/en/remoteApiFunctionsMatlab.htm#simxSetJointPosition I hope it's helpful and if you have a question, I will do my best to answer them. If you want to do this simulation again, you can download the KUKA KR 16 from here : https://drive.google.com/file/d/1ZaMG-3bbJN-GHo3lghNYwZNuZD61NDDS/view?usp=sharing ⚠️ 𝙉𝙤𝙩𝙚𝙨 : ♜ For those who are using the new version 4.2.0, the IK configuration in 7:20 changed, please refer to the official CoppeliaSim for that:https://www.coppeliarobotics.com/helpFiles/en/inverseKinematicsTutorial.htm ♜ The conveyor: for the new version of CoppeliaSim, the conveyor model is not available anymore: -You can download it from the previous versions of CoppeliaSim:https://www.coppeliarobotics.com/previousVersions?fbclid=IwAR10cc7Z4b4gd8lNs-8BDiPNp58pJZCarHXrmjaLnrm_au2opjw1z1CC8dA - Or you can add the "generic conveyor belt". I used this conveyor in this tutorial:https://www.youtube.com/watch?v=9X8QVcuJvQ4&ab_channel=mechatronicsNinja ♜ Using Matlab is a personal choice, it can be replaced with other programming languages like java, c++ .. Or you can directly implement all your code in CoppeliaSim (this will be for another video). The code is not optimized but it works very well. ♜"sim.rmlMoveToPosition" is not available on Matlab Remote API functions, this is why I decided to create my own linear move function in step 6 (it uses a simple sampling Technics with no command law like s curve or trapezoidal ). If you don't want to create this function you can simply trigger a script on V-REP that contains all rmlMove needed, or you can use the followPath function. ♜ for step 5, the gripper function can be also triggered directly on V-REP. ♜ If you have difficulties gripping the box I recommend : - decreasing the weight of the box. - increase the gripper joints velocities. - increasing the friction coefficient of the gripper fingers. - fake the gripping (13:30). It is more efficient, I used it in this video (at minute 29:24) : https://www.youtube.com/watch?v=9X8QVcuJvQ4&ab_channel=mechatronicsNinja Thank you for watching. ⚠️𝑪𝒐𝒎𝒎𝒐𝒏 𝒗𝒊𝒆𝒘𝒆𝒓𝒔 𝒑𝒓𝒐𝒃𝒍𝒆𝒎𝒔 : ⦿ The inverse kinematics is not working: → after version 4.2.0, CoppeliaSim changed the IK method, please refer to this Official CoppeliaSim tutorial: https://www.coppeliarobotics.com/helpFiles/en/inverseKinematicsTutorial.htm ⦿ The robot falls apart when configuring joints in Inverse Kinematics Mode : → for the objects that are falling: double click on the object (in the scene hierarchy), click on "show dynamic properties dialog", uncheck "body is dynamic" ⦿ When I stop the simulation, the pieces still appeared on the conveyor: → Replace "the while true do" at 10:59 by " While (sim.getSimulationState()~=sim.simulation_advancing_abouttostop) do " ⦿ simRemoteApi.start(19999) is not working in CoppeliaSim: → With CoppeliaSim, the remote API server is already opened on port 19999 (continuous remote API server service). So, you don't have to copy this function anymore. For more details: https://www.coppeliarobotics.com/helpFiles/en/remoteApiServerSide.htm ---------------------------- 📛 For your professional projects: https://www.fiverr.com/m_ninja 📛 Our Facebook page: https://www.facebook.com/mechatronicsNinja 📛 Support us: https://www.buymeacoffee.com/mechatrncNinja 📛 search for robotics competition: https://mechatronicsninja.com/



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