ACTIN® ► TUTORIALS


Learn to how to easily simulate and control complex robotic systems with the following Actin® video tutorials:

Coordinated UR-5 Motion

 

Contents:

Actin® — Converting SolidWorks models to .ecz Files
Actin® — Setting Motion Constraints in a Kinematic Chain
Actin® — Creating Poses on Manipulator Objects in SolidWorks
Actin® — Using Named Frames to Automatically Approach Objects
Actin® — Enabling Collision Detection
Actin® — Enabling Collision Exclusion
Actin® — Bounding Volumes and Keep-out Zones
Actin® — Displaying and Exporting Performance Data
Actin® — Joystick Configuration
Actin® — Simulated Cameras
Actin® — Virtual Measurements
Actin® — Attaching and Detaching Objects During Manipulation
Actin® — Building a Manipulator


Converting SolidWorks models to .ecz Files

Key Points:

  •  3D CAD models of robotic or mechatronic systems (Manipulators) and their environment (Objects) are converted from SolidWorks and automated in Actin®.
  • Manipulators are articulated.
  • Objects are unarticulated.

Return to: TUTORIAL CONTENTS


Setting Motion Constraints in a Kinematic Chain

Key Points:

  • Motion Constraints can be a manipulator tool flange, manipulator gripper, or an object such as a tool.
  • The origin of the CAD model becomes the Tool Center Point (TCP) which can be altered in Actin®.

Return to: TUTORIAL CONTENTS


Creating Poses on Manipulator Objects in SolidWorks

Key Points:

  • Setting a pose on an object allows the manipulator to move to an exact location.
  • With Actin®, this motion is updated automatically even as the position and orientation of the object changes in real time.

Return to: TUTORIAL CONTENTS


Using Named Frames to Automatically Approach Objects

Key Points:

  • Manipulator motion can be directed to specific poses that are relative to other manipulators or manipulator objects.
  • Waypoints can be added to give even more control over a motion path.

Return to: TUTORIAL CONTENTS


Enabling Collision Detection

Key Points:

  • Collision detection can be enabled to verify motion prior to implementing automation.
  • In Actin®, virtual sensors can be added to gain real-world information — in real time.

Return to: TUTORIAL CONTENTS


Enabling Collision Exclusion

Key Points:

  • A collision exclusion direction can be created to allow temporary collisions of manipulators and objects.
  • Collision exclusions can be created on specific links to maintain collision avoidance for the remaining components in the automation sequence.

Return to: TUTORIAL CONTENTS


Bounding Volumes and Keep-out Zones

Key Points:

  • Actin® makes collision avoidance easy and can automatically adapt robotic motion to avoid impacts.
  • Robotics are either adaptive or they’re not. There’s no in-between. Keep-out zones can be created to allow automatic manipulation without fear of damage — even if there is a lot at stake.
  • This feature sets Actin® apart from other control software as it is a truly adaptive automation tool making it ideal for robotic control of critical systems.

Return to: TUTORIAL CONTENTS


Displaying and Exporting Performance Data

Key Points:

  • Forces, torques, acceleration, and more can can be exported to a document or streamed to an external system in several formats.
  • This exported data can be crucial when developing or verifying robotic parameters.

Return to: TUTORIAL CONTENTS


Joystick Configuration

Key Points:

  • 3D space navigation inputs can be used in Actin.
  • Inputs include CAD tools, Game controllers, or other telemetry devices such as the Myo armband.

Return to: TUTORIAL CONTENTS


Converting SolidWorks models to .ecz Files

Key Points:

  •  3D CAD models of robotic or mechatronic systems (Manipulators) and their environment (Objects) are converted from SolidWorks and automated in Actin®.
  • Manipulators are articulated.
  • Objects are unarticulated.

Return to: TUTORIAL CONTENTS


Setting the Active End Effector in a Kinematic Chain

Key Points:

  • An active end effector can be a manipulator tool flange, manipulator gripper, or an object such as a tool.
  • The origin of the CAD model becomes the Tool Center Point (TCP) which can be altered in Actin®.

Return to: TUTORIAL CONTENTS


Creating Poses on Manipulator Objects in SolidWorks

Key Points:

  • Setting a pose on an object allows the manipulator to move to an exact location.
  • With Actin®, this motion is updated automatically even as the position and orientation of the object changes in real time.

Return to: TUTORIAL CONTENTS


Using Named Frames to Automatically Approach Objects

Key Points:

  • Manipulator motion can be directed to specific poses that are relative to other manipulators or manipulator objects.
  • Waypoints can be added to give even more control over a motion path.

Return to: TUTORIAL CONTENTS


Enabling Collision Detection

Key Points:

  • Collision detection can be enabled to verify motion prior to implementing automation.
  • In Actin®, virtual sensors can be added to gain real-world information — in real time.

Return to: TUTORIAL CONTENTS


Enabling Collision Exclusion

Key Points:

  • A collision exclusion direction can be created to allow temporary collisions of manipulators and objects.
  • Collision exclusions can be created on specific links to maintain collision avoidance for the remaining components in the automation sequence.

Return to: TUTORIAL CONTENTS


Bounding Volumes and Keep-out Zones

Key Points:

  • Actin® makes collision avoidance easy and can automatically adapt robotic motion to avoid impacts.
  • Robotics are either adaptive or they’re not. There’s no in-between. Keep-out zones can be created to allow automatic manipulation without fear of damage — even if there is a lot at stake.
  • This feature sets Actin® apart from other control software as it is a truly adaptive automation tool making it ideal for robotic control of critical systems.

Return to: TUTORIAL CONTENTS


Joystick Configuration

Key Points:

  • 3D space navigation inputs can be used in Actin.
  • Inputs include CAD tools, Game controllers, or other telemetry devices such as the Myo armband.

Return to: TUTORIAL CONTENTS


Simulated Cameras

Key Points:

  • Multiple simulated virtual cameras can be placed in Actin.
  • Simulated cameras can be congfigured to move with the automation sequence and capture their associated fields of view.

Return to: TUTORIAL CONTENTS


Virtual Measurements

Key Points:

  • The Actin® viewer supports measurement of coordinates in link Denavit–Hartenberg frames, coordinates in system frames, and measurement of overall distances.
  • Measurements can be made between points on model surfaces, between system frames, or a combination of model surface points and system frames.

Return to: TUTORIAL CONTENTS


Attaching and Detaching Objects During Manipulation

Key Points:

  •  Objects such as tools can be attached and detached from manipulators.
  • Attached objects can be assigned directions at any time during the sequence.

Return to: TUTORIAL CONTENTS


Building a Manipulator

Key Points:

  • Manipulators can be built in Actin®, SolidWorks, Blender, Onshape, or any other CAD tool that can be imported into SolidWorks or Blender.
  • Actin® Named Frames serve as Denavit-Hartenberg parameters for reference frames.

Return to: TUTORIAL CONTENTS