Help with inverse kinematics in Delmia

[mr-happyguy]

Hi there! I'm a student from Denmark and I have somewhat of a problem with inverse kinematics in Delmia V5R19... I hope you guys are able to help me out  

Anyway, I'm trying to model the Viper Adept s650, which is an articulated robot. I've converted all the CAD-drawings from STEP to Parts, no problems here. Afterwards I connect all the parts with revolute joints and set up limitations on the joints as specified by the data sheet from Viper. Jogging the joints work as expected, and I specify a reference frame for the tool center point (TCP). So far, so good...  

And then begins trouble
I assign the inverse kinematics to the assembly, choosing the device for the tool as Mount Part and the reference frame for TCP as Mount Offset. As Reference Part I choose the base of the robot - as goes for Base Part. Approach Axis is left on default Z-axis and Approach Direction is In.
I choose Generic Inverse as Solver Type and choose Articulated as Kinematic Class. Everything seems fine and no errors occur when I click OK.
But the robot is acting strange when I use Cartesian jogging and even stranger when I load the robot into Device Task Definition and add tags.. It is as if the robot believes that TCP is at another place than it is (or at least where I want it to be) and positions itself very strange compared to the assigned tags.

I have tried to create a workspace envelope, and that looks perfect compared to the data sheet. Is anyone able to help me out? I have a feeling that I'm doing something wrong, while creating the inverse kinematics.... I will be forever grateful for any help, 'cause I've been banging my head against the wall for a couple of weeks now  

[mr-happyguy]

Hi guys,
I figured out the trouble myself ;) Apparantly, joints must be configured in a certain way for inverse kinematics to work. Say you have a 6-axis articulated robot, consisting of 7 parts (named from base to wrist 1,2,3,4,5,6,7), you need to make six revolute joints. Starting with the joint between 1 and 2, Line 1 and Plane 1 MUST be specified for part 1 and Line 2 and Plane 2 MUST be specified for part 2. As goes for the joint between 2 and 3: Line 1 and Plane 1 MUST be specified for part 2 and Line 2 and Plane 2 MUST be specified for part 3. As goes for the rest of the joints, ending with the joint between part 6 and part 7 (the wrist), where Line 1 and Plane 1 MUST be specified for part 6 and Line 2 and Plane 2 MUST be specified for part 7.
Hehe, perhaps I'm not as sharp on inverse kinematics as I should be - better bury my head in the books :)

Thanks for checking out my post, and I hope that this might help some of you other guys out ;)

[chenlugang]

 
when i load the robot into Device Task Definition:
[INFO]: RobotTask.1/Operation.1/RobotMotion.1 started
[ERROR]: robot is in singularity
[INFO]: Stop due to singularity
[ERROR]: robot is in singularity
who can help me.
thank you very much.

[gasss]

Change your robot initial position and click "save initial state" (at the simulation bar). Sometimes this error happens, but it is not important.

If you moved previously your robot, maybe you have saved an initial state out of range, so you have to move your robot to a correct position.

Hope this helps.

If you need some help with Delmia just PM me or make a question in this forum.

Regards.

[JUCAF]

Hi,
  I'm an Engineer and teacher too.
I work with robot and automation and have some studies about this software.
 For help my students sometime,  I created  videos step by step and give for them.
I hope, can to aid.
I will go adjust my material and send for you.
Whait little time and I contact you again. 

Obs: sorry for my english, I'm from Brazil

[fsabbatini]

Hi JUCAF! may you send me your videos?

thanks a lot!

[JUCAF]

HI fsabbatini!
send your email and I'll send the videos.
I think will go helps.
Are three videos.

Regards.

[Valkama]

Hi JUCAF.

I would also be interested to see your videos, can you send those also for me?

Thanks.

[Randhir]

Hi JUCAF.

I would also be interested to see your videos, can you send those also for me?
My mail ID is:-      randhir.singh@tatatechnologies.com

Thanks.

[wilsonzhou]

HI JUCAF,

May you send me some trainning resource on how to build one 6 axis in the delmia?
My email adress: wilson.zhou@foxmail.com

Thanks