Robot

Add Robot

  1. Click the select icon on the right side of the robot entry to enter the robot selection window.

  2. In the robot selection window:

    1. Search for the required robot model;

    2. Select the corresponding robot card and click Confirm, or double-click the robot card to select.

If the robot library has updates, please click Update Model Library to synchronize.

Add Custom Robot

  1. Click the select icon on the right side of the robot entry to enter the robot selection window.

  2. Click Custom Robot in the lower left corner of the window.

  3. Name your custom robot and click OK.

  4. After setting the basic properties of the custom robot, the system will automatically save. Click × to complete the addition of the custom robot.

Configure Robot Parameters

Modify Robot Pose in World Coordinate System

  • Rough adjustment: Hold Shift and use the left mouse button to drag the robot controller for pose adjustment in the scene display area.

  • Precise modification: Open the right parameter settings panel and modify the pose parameters in Robot Pose in World Coordinate System.

Modify Robot’s Own Pose

The robot’s pose can be modified in the following three ways:

  • Modify the Pose of Flange Coordinate System in Base Coordinate System

    Modify pose parameters in Parameter Settings > Pose of Flange Coordinate System in Base Coordinate System.

  • Enable Robot Tool Controller

    This method is only for rough adjustment of the robot’s pose.

    1. Enable the switch in Parameter Settings > Robot Tool Pose > Robot Tool Controller.

    2. Select the current tool; when no tool is available, - represents the flange.

    3. Drag the tool controller in the 3D simulation space, and the robot will move accordingly.

      Please promptly turn off the tool controller switch after use.

  • Modify Robot Joint Angles

    Modify joint angles in Parameter Settings > Robot Joint Settings.

Modify Robot Basic Properties

Click the setting icon icon on the right side of the robot model entry to enter the robot basic properties window.

Basic properties of pre-configured robots cannot be modified.

Configure Robot Communication

Configure robot communication to automatically obtain robot poses during hand-eye calibration.

Configuration steps are as follows:

  1. Complete the robot program burning.

  2. Set parameters such as monitoring reporting mode according to the actual project situation.

  3. Click Enable.

Change Robot

For solutions that have already added a robot, you can click the select icon on the right side of the robot entry to modify the robot.

Inverse Kinematics Solver Description

Inverse Solver Types

The inverse solver is used to analyze the angles and positions of each robot joint to determine the specific position and pose of the robot’s end tool.

Industrial Robot Solver

Inverse kinematics solver for robots with orthogonal parallel configuration and spherical wrist.

Collaborative Robot Solver

Solver for UR-configured collaborative robots, may include non-UR configured collaborative robots.

Universal Solver

Select this when not AASW or URs.

Inverse Solution Selection Rules

Inverse solution selection rules specify the priority conditions or strategies when solving inverse kinematics problems.

Inverse Solution Rule

Description

Front-Up-NoFlip

Robot faces forward, elbow up, no wrist flip. Default choice for traditional industrial robots, suitable for most situations.

Front-Up-Flip

Robot faces forward, elbow up, wrist flip.

Front-Down-NoFlip

Robot faces forward, elbow down, no wrist flip.

Front-Down-Flip

Robot faces forward, elbow down, wrist flip.

Back-Up-NoFlip

Robot faces backward, elbow up, no wrist flip.

Back-Up-Flip

Robot faces backward, elbow up, wrist flip.

Back-Down-NoFlip

Robot faces backward, elbow down, no wrist flip.

Back-Down-Flip

Robot faces backward, elbow down, wrist flip.

Joint-Angle

Robot joint angles. Default choice for collaborative robots, suitable for most situations.