On insertion, you need to answer two basic questions about your application on the right panel and click Done for the template to initialize. The pick and place template can be inserted in a robot program by selecting Program in the header bar, then URCaps → Pickit: pick and place on the left panel. The Pickit Pick and place template supercedes the low-level interface from URCap version 1 as the preferred way to set up a pick and place application, although both ways of working are supported. Installation instructions can be found here. This example only uses a single arm.The Pickit Pick and place template is only available for URCap 2.0 or later and Pickit 2.2 or later.
The robot is an industrial manipulator with two arms. Once the task scheduling is complete, the focus of the model is shifted to controller design and system verification, which requires more complex system dynamics models.
This block simulates the manipulator motion given joint-space reference trajectories under a stable controller with predefined response parameters. For this portion, a straightforward model that simulates quickly is desirable, so the system dynamics are modeled using the Joint Space Motion Model block. The system dynamics can be modeled with different levels of fidelity, depending on the aim of the overall model.įor this example, during the task scheduler design, the aim is to ensure the scheduler behaves correctly under the assumption that the robot is under stable motion control. This defines how the robot moves given a set of reference trajectories and a boolean gripper command (open or closed). The system dynamics portion models the robot behavior.
This includes the robot configuration state at any instant, what the goal position is, whether the gripper should be open or closed, and the current trajectory being sent to the robot. The task scheduling and trajectory generation portion defines how the robot traverses through the states.
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