工業(yè)機(jī)器人原理與應(yīng)用習(xí)題及答案、實驗程序

器人原理與應(yīng)用答案FANUC和YASKAWA。和關(guān)節(jié)型。水平面內(nèi)具有動作靈活、速度快且精度較高。(1)直角坐標(biāo)型機(jī)器人運(yùn)動范圍為立方體，動作簡單，靈活性較差，難與其他工業(yè)機(jī)器人協(xié)調(diào)工作。(2)球坐標(biāo)型機(jī)器人優(yōu)點(diǎn)在于其結(jié)構(gòu)緊湊，動作靈活，可以作上下俯仰動作并能抓取地面上或較低位置的工件，缺點(diǎn)是結(jié)構(gòu)復(fù)雜且定位精度較差。(3)圓柱坐標(biāo)型機(jī)器人人，不過其無法抓取靠近其附近或地面的物體。(4)SCARA機(jī)器人水平面內(nèi)具有動作靈活、速度快且精度較高。(5)關(guān)節(jié)型機(jī)器人關(guān)節(jié)型機(jī)器人是串聯(lián)結(jié)構(gòu)，類似人的手結(jié)構(gòu)，一般由底座、臂部、腕部和手部組成。具有多業(yè)領(lǐng)域，但其運(yùn)動精度不高。4、新型驅(qū)動方式有磁致伸縮，形狀記憶合金，超聲電機(jī)，介電彈性體和流體彈性體。5、工業(yè)機(jī)器人的旋轉(zhuǎn)傳動所主要采用的減速器有諧波齒輪減速器和擺線針輪(RV)減速器。(2)機(jī)器人末端執(zhí)行器的種類多樣，由于機(jī)器人可以載體配上不同的末端執(zhí)行器可以業(yè)需要打磨頭等等。(3)機(jī)器人末端執(zhí)行器通用性差，一般不同的作業(yè)模式就需要不同的末端執(zhí)行器，因此機(jī)器人末端執(zhí)行器具有專用性。(2)安裝機(jī)器人末端測量工具(Tmac或者測量球)，添加校準(zhǔn)空間，軟件自動生成校準(zhǔn)點(diǎn)位，(3)定義機(jī)器人校準(zhǔn)空間點(diǎn)的關(guān)節(jié)坐標(biāo)。(4)編寫機(jī)器人程序。(5)連接激光跟蹤儀，測量實際空間點(diǎn)位。(6)測量完成，計算減速比和DH參數(shù)。1、通常采用RPY角和歐拉角來表示機(jī)器人末端執(zhí)行器的方位。2、常見的機(jī)器人逆運(yùn)動學(xué)求解分為兩類，一類是封閉解，另一類是數(shù)值解。3、機(jī)器人動力學(xué)主要研究機(jī)器人力和運(yùn)動之間的關(guān)系。nnnnn(1)znnnnn(2)x軸與公垂線重合，方向定義為從n指向n+1關(guān)節(jié)。(3)y軸滿足于x軸、z軸構(gòu)成右手直角坐標(biāo)系的條件。答(1)首先建立工業(yè)機(jī)器人各個連桿關(guān)節(jié)處的坐標(biāo)系。(2)獲得各個連桿的D-H參數(shù)。(3)確定相鄰連桿間的齊次坐標(biāo)變換矩陣。(4)將各個矩陣相乘，獲得機(jī)器人末端執(zhí)行器相對于基坐標(biāo)系的總變換矩陣。(5)構(gòu)建包含末端執(zhí)行器的位姿矩陣和總變換矩陣的機(jī)器人運(yùn)動學(xué)方程，并求解。(1)逆運(yùn)動學(xué)的解可能不存在(2)逆運(yùn)動學(xué)的解存在多重性(3)求解方法的多樣性開放性題目，沒有參考答案容式以及觸覺傳感器陣列等。4、常見的工業(yè)機(jī)器人視覺系統(tǒng)主要應(yīng)用于目標(biāo)判定，形位/尺寸測量，條碼識別和表面缺陷檢測等場合。5、機(jī)器人視覺伺服控制一般分為基于位置的視覺伺服，基于圖像的視覺伺服和2.5D視覺伺服。合方法有人工智能，推理方法，分類方法和估計方法。(1)多種不同類型的傳感器數(shù)據(jù)；(2)對各個傳感器的輸出數(shù)據(jù)，包括矢量數(shù)據(jù)、成像數(shù)據(jù)、時間函數(shù)數(shù)據(jù)等，進(jìn)行變(3)通過模式識別對特征向量進(jìn)行處理，實現(xiàn)對每個傳感器的數(shù)據(jù)描述；(4)按照同一目標(biāo)，關(guān)聯(lián)各個傳感器的目標(biāo)描述數(shù)據(jù)；(5)利用融合算法合成每個目標(biāo)傳感器信息，獲得對目標(biāo)的完整一致描述。(1)微型和智能化機(jī)器人傳感器(2)多傳感器信息融合算法的改進(jìn)(3)多傳感器綜合化管理研究(4)信息融合仿生機(jī)理研究動控制卡的機(jī)器人控制系統(tǒng)的硬件主要由上位機(jī)，下位機(jī)，伺服電機(jī)及驅(qū)動器，檢測傳感器和電源分配板等組成。2、工業(yè)機(jī)器人常見的控制方式分為動作控制方式和示教控制方式。4、機(jī)器人系統(tǒng)的伺服控制律可分解為模型控制部分和伺服控制部分。力學(xué)模型需考慮慣性力，科里奧利力，重力和摩擦力矩。、常用的機(jī)器人力控制方法有阻抗控制，位置/力混合控制，柔順控制和 抗控制則是根據(jù)機(jī)器人與環(huán)境的接觸力偏差調(diào)整機(jī)器人末端的位置/速度來實現(xiàn)。而基于力的阻抗控制是通過控制關(guān)節(jié)驅(qū)動力矩來實現(xiàn)對末端接觸力和位移的調(diào)整。示教-再現(xiàn)運(yùn)動，關(guān)節(jié)空間運(yùn)動，空間直線運(yùn)動和 空間曲線運(yùn)動。 和五項式插補(bǔ)等方法。4、工業(yè)機(jī)器人編程語言可分為三級，即動作級，對象級和任務(wù)級。5、什么是軌跡規(guī)劃?簡述軌跡規(guī)劃的方法并說明其特點(diǎn)？軌跡規(guī)劃方法一般是在機(jī)器人末端初始位置和目標(biāo)位置之間用多項式函數(shù)來“內(nèi)插”或“逼近”給定的路徑，并沿時間軸產(chǎn)生一系列“控制設(shè)定點(diǎn)”，供機(jī)器人控制之用。人之間需要接口。為了提高編程效率，出現(xiàn)了機(jī)器人語言編程語言，它以一種通用的方式解決了人-機(jī)通信問題。解：將約束條件代人公式，可得代入時間求得將旋轉(zhuǎn)矩陣代入四元數(shù)計算公式((1232123|||23122？L圓弧運(yùn)動(MoveC)和絕對位置運(yùn)動(MoveABSJ)。 查看當(dāng)前參數(shù)等功能。3、利用示教器建立工件坐標(biāo)系，最常見用3點(diǎn)法，其中Z軸用右手準(zhǔn)則確定。開、更換分解器時，需要機(jī)器人進(jìn)行原點(diǎn)校準(zhǔn)。7、利用“1+X”機(jī)器人實訓(xùn)平臺完成搬運(yùn)、碼垛、循跡、打磨實驗。開放性題目，可參考配套視頻和程序開放性題目，未有參考答案，請參考教材配套視頻開放性題目，未有參考答案，請參考教材配套視頻(1)綜合考慮并提出自動化要求，主要包括提高生產(chǎn)效率和產(chǎn)能、產(chǎn)品質(zhì)量可靠、提高經(jīng)濟(jì)效益和改善勞動條件等內(nèi)容。(2)規(guī)劃工業(yè)機(jī)器人自動化應(yīng)用系統(tǒng)生產(chǎn)線布局，制定每個工藝步驟。明確工業(yè)機(jī)器人以業(yè)類型一覽表。的生產(chǎn)條件，選擇適合的工業(yè)機(jī)器人類型及品牌型號。(4)結(jié)合生產(chǎn)線設(shè)計要求和本身實際的生產(chǎn)條件，選擇適合的配套設(shè)備，優(yōu)先選用易與工業(yè)機(jī)器人通訊的外圍配套設(shè)備。(5)制定工業(yè)機(jī)器人自動化應(yīng)用系統(tǒng)評價指標(biāo)。(6)工業(yè)機(jī)器人自動化應(yīng)用系統(tǒng)的詳細(xì)設(shè)計和施工，對選定的方案進(jìn)行詳細(xì)的分析和設(shè)計，(7)制定工業(yè)機(jī)器人自動化應(yīng)用系統(tǒng)的標(biāo)準(zhǔn)操作程序，培訓(xùn)相應(yīng)的工程人員。(1)總體系統(tǒng)設(shè)計(2)布局設(shè)計(3)機(jī)器人選型及末端執(zhí)行器設(shè)計(4)配套設(shè)備選型及設(shè)計(5)控制系統(tǒng)設(shè)計3、試舉例一些工業(yè)機(jī)器人的其它典型應(yīng)用案例？開放性題目，未有參考答案器人原理與應(yīng)用MODULEMainModuleCONSTjointtargetjpos0:=[[0,0,0,0,90,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpSuckerabove:=[[291.74,-4.20,378.57],[0.000956293,0.70148,-0.712687,0.00133453],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpSucker:=[[291.74,-4.21,219.02],[0.000953676,0.701463,-0.712704,0.00135715],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryingabove:=[[0.00,-302.00,557.99],[3.22094E-06,-1,4.40117E-05,1.04767E-05],[-2,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryTriangle11:=[[31.30,211.57,-84.21],[0.718241,-0.000464443,0.000253425,0.695794],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryTriangle12:=[[31.27,211.66,2.89],[0.718243,-0.000463311,0.000255071,0.695793],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryTriangle13:=[[94.65,87.70,-84.43],[0.718246,-0.000463215,0.000251192,0.695789],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryTriangle14:=[[94.65,87.70,3.39],[0.718244,-0.000465702,0.000257886,0.695791],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryTriangle21:=[[32.24,171.97,-98.94],[0.718248,-0.000461059,0.000249048,0.695786],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryTriangle22:=[[32.21,172.08,3.31],[0.718247,-0.000464715,0.000252155,0.695788],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryTriangle23:=[[95.71,48.04,-118.07],[0.718248,-0.000460483,0.000246858,0.695787],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryTriangle24:=[[95.67,48.16,4.13],[0.718251,-0.000460261,0.000249639,0.695784],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryTriangle31:=[[31.26,131.31,-107.74],[0.718247,-0.000457894,0.000241472,0.695788],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryTriangle32:=[[31.22,131.43,4.44],[0.718246,-0.000459172,0.000245768,0.695789],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryTriangle33:=[[94.30,7.50,-114.16],[0.718246,-0.000456102,0.000241268,0.695789],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryTriangle34:=[[94.30,7.50,4.42],[0.71825,-0.000456498,0.000239537,0.695785],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryCircle11:=[[89.19,211.91,-80.97],[0.718246,-0.000455848,0.000241016,0.695789],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryCircle12:=[[89.16,211.99,4.02],[0.718248,-0.00045545,0.000241438,0.695787],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryCircle13:=[[153.86,88.04,-119.98],[0.718246,-0.000450339,0.000238422,0.69579],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryCircle14:=[[153.82,88.17,5.06],[0.718247,-0.000455772,0.000243545,0.695788],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryCircle21:=[[89.13,172.86,-72.64],[0.718245,-0.000449039,0.00023417,0.69579],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryCircle22:=[[89.11,172.94,4.86],[0.718242,-0.000451246,0.000239054,0.695793],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryCircle23:=[[153.84,49.25,-91.72],[0.718245,-0.000443612,0.000230647,0.69579],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryCircle24:=[[153.81,49.25,4.47],[0.718246,-0.000450706,0.000234712,0.695789],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryCircle31:=[[89.68,131.79,-95.62],[0.718245,-0.000441284,0.000227916,0.69579],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryCircle32:=[[89.65,131.89,4.58],[0.718246,-0.000440376,0.000227075,0.695789],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryCircle33:=[[154.32,8.10,-97.96],[0.718247,-0.000437214,0.000226705,0.695788],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryCircle34:=[[154.39,8.10,4.39],[0.718245,-0.000441133,0.000226862,0.69579],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryRectangle11:=[[153.47,211.93,-75.47],[0.718246,-0.000436529,0.000223758,0.695789],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryRectangle12:=[[153.45,212.01,6.12],[0.718247,-0.000436788,0.000225358,0.695788],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryRectangle13:=[[26.59,87.92,-69.95],[0.718245,-0.000433816,0.000218962,0.69579],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryRectangle14:=[[26.57,88.00,4.36],[0.718246,-0.000434999,0.000219674,0.695789],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryRectangle21:=[[153.38,172.12,-65.07],[0.718245,-0.000428404,0.000213628,0.69579],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryRectangle22:=[[153.36,172.20,4.90],[0.718246,-0.000429421,0.000215394,0.695789],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryRectangle23:=[[26.83,48.35,-72.56],[0.718242,-0.000428414,0.00021068,0.695794],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryRectangle24:=[[26.81,48.33,3.60],[0.718246,-0.000427258,0.000211186,0.695789],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryRectangle31:=[[153.72,132.48,-68.07],[0.71824,-0.000422746,0.000204842,0.695796],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];rHome;CONSTrobtargetpCarryRectangle32:=[[153.70,132.55,3.98],[0.718241,-0.000424652,0.000207363,0.695794],[-2,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryRectangle33:=[[26.77,8.62,-79.89],[0.718239,-0.000419477,0.00020401,0.695796],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpCarryRectangle34:=[[26.74,8.60,3.79],[0.71824,-0.000422867,0.000203239,0.695795],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];!TASKPERStooldataSucker:=[TRUE,[[-1.05953,76.2629,87.2528],[1,0,0,0]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];TASKPERSwobjdatawobjCarry:=[FALSE,TRUE,"",[[194.277,-492.884,176],[7.20324E-06,0.000219059,-1,-1.51841E-05]],[[0,0,0],[1,0,0,0]]];VARboolbStart:=FALSE;VARboolbStop:=FALSE;VARboolbEmergencyStop:=FALSE;VARintnumiWaring;PROCmain()nitCarrying;ENDPROCPROCrHome()MoveAbsJjpos0\NoEOffs,v100,fine,tool0;ENDPROCPROCinit()SetDOY0,0;SetDOY1,0;SetDOY2,0;SetDOY3,0;SetDOY4,0;SetDOY5,0;SetDOY6,0;SetDOY7,0;SetDOY8,0;SetDOY9,0;SetDOY10,0;SetDOY11,0;SetDOY12,0;SetDOY13,0;SetDOY14,0;SetDOY15,0;IDeleteiWaring;CONNECTiWaringWITHtWarning;ISignalDIX11,1,iWaring;ENDPROCPROCGetSucker()rHome;MoveJpSuckerabove,v100,fine,tool0;SetDOY0,1;WaitTime1;MoveLpSucker,v100,fine,tool0;WaitTime1;SetDOY0,0;WaitTime1;MoveLpSuckerabove,v100,fine,tool0;rHome;ENDPROCPROCDownSucker()rHome;MoveJpSuckerabove,v100,fine,tool0;MoveLpSucker,v100,fine,tool0;WaitTime1;SetDOY0,1;WaitTime1;MoveLpSuckerabove,v100,fine,tool0;SetDOY0,0;rHome;ENDPROCPROCCarrying()GetSucker;MoveJpCarryingabove,v100,fine,tool0;MoveJpCarryTriangle11,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryTriangle12,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,1;WaitTime1;WaitUntilX1=1;MoveLpCarryTriangle11,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryTriangle13,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryTriangle14,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,0;WaitTime3;WaitUntilX1=0;MoveLpCarryTriangle13,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryTriangle21,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryTriangle22,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,1;WaitTime1;WaitUntilX1=1;MoveLpCarryTriangle21,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryTriangle23,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryTriangle24,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,0;WaitTime3;WaitUntilX1=0;MoveLpCarryTriangle23,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryTriangle31,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryTriangle32,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,1;WaitTime1;WaitUntilX1=1;MoveLpCarryTriangle31,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryTriangle33,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryTriangle34,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,0;WaitTime3;WaitUntilX1=0;MoveLpCarryTriangle33,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryCircle11,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryCircle12,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,1;WaitTime1;WaitUntilX1=1;MoveLpCarryCircle11,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryCircle13,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryCircle14,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,0;WaitTime3;WaitUntilX1=0;MoveLpCarryCircle13,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryCircle21,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryCircle22,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,1;WaitTime1;WaitUntilX1=1;MoveLpCarryCircle21,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryCircle23,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryCircle24,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,0;WaitTime3;WaitUntilX1=0;MoveLpCarryCircle23,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryCircle31,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryCircle32,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,1;WaitTime1;WaitUntilX1=1;MoveLpCarryCircle31,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryCircle33,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryCircle34,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,0;WaitTime3;WaitUntilX1=0;MoveLpCarryCircle33,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryRectangle11,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryRectangle12,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,1;WaitTime1;WaitUntilX1=1;MoveLpCarryRectangle11,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryRectangle13,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryRectangle14,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,0;WaitTime3;WaitUntilX1=0;MoveLpCarryRectangle13,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryRectangle21,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryRectangle22,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,1;WaitTime1;WaitUntilX1=1;MoveLpCarryRectangle21,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryRectangle23,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryRectangle24,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,0;WaitTime3;WaitUntilX1=0;MoveLpCarryRectangle23,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryRectangle31,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryRectangle32,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,1;WaitTime1;WaitUntilX1=1;MoveLpCarryRectangle31,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryRectangle33,v50,fine,Sucker\WObj:=wobjCarry;MoveLpCarryRectangle34,v50,fine,Sucker\WObj:=wobjCarry;SetDOY1,0;WaitTime3;WaitUntilX1=0;MoveLpCarryRectangle33,v50,fine,Sucker\WObj:=wobjCarry;MoveJpCarryingabove,v100,fine,tool0;DownSucker;ENDPROCTRAPtWarningbStart:=FALSE;bEmergencyStop:=FALSE;bStop:=TRUE;StopMove;WaitDIX11,1;StartMove;bStop:=FALSE;bEmergencyStop:=FALSE;bStart:=TRUE;ENDTRAPENDMODULEMODULEMainModuleCONSTjointtargetjpos0:=[[-0.0210685,0.0327877,-0.0616367,-0.0596963,90.0447,0.0143036],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpSuckerabove:=[[291.74,-4.20,378.57],[0.000956293,0.70148,-0.712687,0.00133453],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpSucker:=[[291.74,-4.21,219.02],[0.000953676,0.701463,-0.712704,0.00135715],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPalletingabove:=[[-14.85,-323.56,355.59],[0.000218595,0.710406,-0.703792,4.97333E-06],[-2,-1,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargettake_ini:=[[23.64,200.00,3.11],[0.706499,-0.000258672,-0.000292255,-0.707714],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargettake_ini1:=[[24.35,97.29,3.13],[0.706504,-0.000239548,-0.000261257,-0.707709],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];VARrobtargettake10:=[[-72.66,468.33,403.66],[0.261127,0.584522,-0.730348,-0.238197],[1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetput_ini:=[[57.61,22.85,3.78],[0.706481,-0.000236107,-0.00024723,-0.707732],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetput_ini1:=[[119.75,34.51,2.87],[0.706492,-0.000247105,-0.000256329,-0.707721],[-2,-1,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];VARrobtargetput10:=[[275.69,394.27,357.07],[6.85838E-05,0.114498,0.993423,8.16501E-05],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];VARrobtargetput10up:=[[275.69,394.27,357.07],[6.85838E-05,0.114498,0.993423,8.16501E-05],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];!TASKPERStooldataSucker:=[TRUE,[[-1.05953,76.2629,87.2528],[1,0,0,0]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];TASKPERSwobjdatawobjPalletizing:=[FALSE,TRUE,"",[[-48.3612,-491.454,175.56],[6.48812E-05,-0.000214542,1,2.01026E-05]],[[0,0,0],[1,0,0,0]]];VARboolbStart:=FALSE;VARboolbStop:=FALSE;VARboolbEmergencyStop:=FALSE;VARintnumiWaring;PROCmain()nitPalletizing;ENDPROCPROCINIT()SetDOY0,0;SetDOY1,0;SetDOY2,0;SetDOY3,0;SetDOY4,0;SetDOY5,0;SetDOY6,0;SetDOY7,0;SetDOY8,0;SetDOY9,0;SetDOY10,0;SetDOY11,0;SetDOY12,0;SetDOY13,0;SetDOY14,0;SetDOY15,0;IDeleteiWaring;CONNECTiWaringWITHtWarning;ISignalDIX11,1,iWaring;rHome;ENDPROCPROCrHome()MoveAbsJjpos0\NoEOffs,v100,fine,tool0;ENDPROCPROCGetSucker()rHome;MoveJpSuckerabove,v100,fine,tool0;SetDOY0,1;WaitTime1;MoveLpSucker,v100,fine,tool0;WaitTime1;SetDOY0,0;WaitTime1;MoveLpSuckerabove,v100,fine,tool0;rHome;ENDPROCPROCDownSucker()rHome;MoveJpSuckerabove,v100,fine,tool0;MoveLpSucker,v100,fine,tool0;WaitTime1;SetDOY0,1;WaitTime1;MoveLpSuckerabove,v100,fine,tool0;SetDOY0,0;rHome;ENDPROCPROCPalletizing()VARnumtake_dx:=0;VARnumtake_dy:=0;VARnumput_dx:=0;VARnumput_dy:=0;VARnumput_dz:=2.5;take_dx:=32;take_dy:=30;put_dx:=13;put_dy:=13;put_dz:=0;reg1:=1;put10up:=RelTool(put_ini,0,0,0\Rz:=-90);GetSucker;MoveJpPalletingabove,v100,fine,tool0;WHILEreg1<13DOTESTreg1CASE1:take10:=Offs(take_ini,0,0,0);put10:=Offs(put_ini,0,0,0);CASE2:take10:=Offs(take_ini,take_dx,0,0);put10:=Offs(put_ini,-put_dx*2,0,0);CASE3:take10:=Offs(take_ini,take_dx*2,0,0);put10:=Offs(put10up,-put_dx,put_dy-1.5,put_dz);CASE4:take10:=Offs(take_ini,take_dx*3,0,0);put10:=Offs(put10up,-put_dx,-put_dy-1.5,put_dz);CASE5:take10:=Offs(take_ini1,0,0,0);put10:=Offs(put_ini1,0,0,0);CASE6:take10:=Offs(take_ini1,take_dx,0,0);put10:=Offs(put_ini1,26,0,0);CASE7:take10:=Offs(take_ini1,take_dx*2,0,0);put10:=Offs(put_ini1,0,-26,0);CASE8:take10:=Offs(take_ini1,take_dx*3,0,0);put10:=Offs(put_ini1,26,-26,0);CASE9:take10:=Offs(take_ini1,take_dx*4,0,0);put10:=Offs(put_ini1,0,0,put_dz);CASE10:take10:=Offs(take_ini1,0,-take_dy,0);put10:=Offs(put_ini1,26,2,put_dz);CASE11:take10:=Offs(take_ini1,take_dx,-take_dy,0);put10:=Offs(put_ini1,0,-24,put_dz);CASE12:take10:=Offs(take_ini1,take_dx*2,-take_dy,0);put10:=Offs(put_ini1,26,-24,put_dz);ENDTESTMoveJRelTool(take10,0,0,-50),v50,fine,Sucker\WObj:=wobjPalletizing;MoveLtake10,v50,fine,Sucker\WObj:=wobjPalletizing;WaitTime1;SetDOY1,1;WaitTime1;WaitUntilX1=1;MoveJRelTool(take10,0,0,-20),v50,fine,Sucker\WObj:=wobjPalletizing;MoveLOffs(put10,0,0,-20),v50,fine,Sucker\WObj:=wobjPalletizing;MoveLput10,v50,fine,Sucker\WObj:=wobjPalletizing;WaitTime1;SetDOY1,0;WaitTime1;WaitUntilX1=0;MoveLOffs(put10,0,0,-20),v50,fine,Sucker\WObj:=wobjPalletizing;reg1:=reg1+1;ENDWHILEMoveJpPalletingabove,v100,fine,tool0;DownSucker;ENDPROCTRAPtWarningbStart:=FALSE;bEmergencyStop:=FALSE;bStop:=TRUE;StopMove;WaitDIX11,1;StartMove;bStop:=FALSE;bEmergencyStop:=FALSE;bStart:=TRUE;ENDTRAPENDMODULEMODULEMainModuleCONSTjointtargetjpos0:=[[-0.0210685,0.0327877,-0.0616367,-0.0596963,90.0447,0.0143036],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpTcp:=[[290.87,-68.93,219.93],[0.000643977,0.711902,-0.702278,0.000656727],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpTcpabove:=[[290.87,-68.93,378.30],[0.000660439,0.711917,-0.702263,0.00058163],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathabove:=[[94.69,110.86,-107.51],[0.999951,-0.00865006,0.00415083,0.00229834],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathRectangleAbove:=[[131.94,43.15,-106.64],[0.999951,-0.00864537,0.0041544,0.00227258],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathRectangle1:=[[154.65,73.64,-1.33],[0.999951,-0.00865281,0.0041607,0.00227274],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathRectangle2:=[[154.97,3.00,-0.11],[0.999951,-0.00864704,0.00415484,0.00227526],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathRectangle3:=[[106.54,2.78,0.30],[0.999951,-0.00864669,0.00415196,0.00227338],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathRectangle4:=[[106.21,74.33,-0.94],[0.999951,-0.00864697,0.00415489,0.00227128],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine1:=[[154.72,85.76,-1.54],[0.999951,-0.00864735,0.00415314,0.00227346],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine2:=[[154.35,165.02,-2.91],[0.999951,-0.00864656,0.00415334,0.00226808],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine3:=[[142.28,178.16,-3.04],[0.999951,-0.00864789,0.00415588,0.00226953],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine4:=[[129.76,165.49,-2.71],[0.999951,-0.00864646,0.00414841,0.00227307],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine5:=[[130.08,97.63,-1.54],[0.999951,-0.00865292,0.00415831,0.002269],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine6:=[[118.13,85.45,-1.23],[0.999951,-0.00864815,0.00415375,0.00226741],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine7:=[[106.43,97.60,-1.34],[0.999951,-0.00864803,0.00415145,0.00227322],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine8:=[[108.79,103.51,-1.47],[0.999951,-0.00864837,0.00415293,0.00226979],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine9:=[[111.07,109.55,-1.59],[0.999951,-0.0086469,0.00415217,0.00226911],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine10:=[[108.74,113.89,-1.65],[0.999951,-0.00864298,0.00414938,0.00226784],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine11:=[[106.11,120.43,-1.74],[0.999951,-0.00864326,0.00414743,0.00226637],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine12:=[[108.68,127.06,-1.87],[0.999951,-0.00864628,0.00415166,0.0022686],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine13:=[[110.97,132.22,-1.98],[0.999951,-0.00865103,0.00415601,0.00226653],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine14:=[[108.64,137.49,-2.05],[0.999951,-0.00864719,0.00415144,0.00227263],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine15:=[[106.00,143.80,-2.14],[0.999951,-0.00864584,0.00414874,0.00227156],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine16:=[[108.58,149.36,-2.26],[0.999951,-0.00864676,0.00415046,0.00227155],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine17:=[[110.87,153.17,-2.34],[0.999951,-0.0086491,0.00415278,0.00227218],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine18:=[[108.54,159.13,-2.43],[0.999951,-0.00865078,0.00415347,0.00227404],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine19:=[[105.91,164.46,-2.50],[0.999951,-0.00864881,0.00415188,0.00227516],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine20:=[[108.49,168.91,-2.60],[0.999951,-0.0086473,0.00415101,0.00227143],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLine21:=[[112.58,174.63,-2.73],[0.999951,-0.00864495,0.00414718,0.00227618],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathLineAbove:=[[105.31,163.21,-74.70],[0.999951,-0.00864908,0.0041438,0.00227638],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircleAbove:=[[91.13,48.72,-97.70],[0.999951,-0.00864612,0.00413942,0.00227637],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircle1:=[[91.93,50.40,-0.87],[0.999951,-0.00864826,0.00414289,0.00227786],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircle2:=[[67.68,26.77,-0.27],[0.999951,-0.00864951,0.00414098,0.00228079],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircle3:=[[44.97,50.28,-0.48],[0.999951,-0.0086464,0.00414251,0.00227285],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircle4:=[[68.08,73.56,-1.08],[0.999951,-0.00864951,0.0041417,0.00227667],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathTrianglesAbove:=[[18.57,12.72,-77.22],[1,-7.15602E-05,-2.93986E-05,0.000510766],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathTriangles1:=[[38.47,15.97,-0.86],[1,-7.13391E-05,-2.66215E-05,0.000502968],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathTriangles2:=[[4.54,7.26,-0.86],[1,-7.02442E-05,-3.31914E-05,0.000510978],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathTriangles3:=[[4.52,25.13,-0.86],[1,-7.11831E-05,-2.87226E-05,0.000513497],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircle3DAbove:=[[36.18,174.98,-73.12],[0.991512,-0.129792,0.00695165,0.00315155],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircle3D1:=[[37.07,192.69,-6.63],[0.991511,-0.129795,0.00695639,0.0031494],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircle3D2:=[[52.14,197.95,-9.00],[0.994896,-0.100528,0.00830738,0.00279943],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircle3D3:=[[57.53,211.80,-14.43],[0.999945,-0.0030082,0.00987423,0.00180702],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircle3D4:=[[51.73,226.20,-11.18],[0.997043,0.0761826,0.00999328,0.000984937],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircle3D5:=[[36.54,232.05,-8.73],[0.990299,0.138637,0.00935812,0.00033987],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircle3D6:=[[21.19,226.09,-10.57],[0.997043,0.0761814,0.00999157,0.000987141],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircle3D7:=[[16.51,211.65,-13.62],[0.999945,-0.00300635,0.00986815,0.00180554],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathCircle3D8:=[[22.40,197.84,-8.49],[0.994695,-0.102497,0.0083175,0.00276894],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathRectangle3DAbove:=[[94.88,173.49,-78.92],[0.991512,-0.129789,0.00694397,0.00315386],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathRectangle3D1:=[[95.84,192.61,-7.18],[0.991512,-0.129791,0.00695009,0.0031512],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathRectangle3D2:=[[136.15,192.79,-7.76],[0.991513,-0.129781,0.0069781,0.0031324],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];CONSTrobtargetpPathRectangle3D3:=[[136.94,211.73,-