ACTIN® ► TUTORIALS
Learn to how to easily simulate and control complex robotic systems with the following Actin® video tutorials:
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
Actin® — Activating Collision Detection
Actin® — Activating Collision Avoidance
Actin® — Dexterity Plugin
Converting SolidWorks models to .ecz Files
- 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.
Setting Motion Constraints in a Kinematic Chain
- 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®.
Creating Poses on Manipulator Objects in SolidWorks
- 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.
Using Named Frames to Automatically Approach Objects
- 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.
Enabling Collision Detection
- 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.
Enabling Collision Exclusion
- 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.
Bounding Volumes and Keep-out Zones
- 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.
Displaying and Exporting Performance Data
- 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.
- 3D space navigation inputs can be used in Actin.
- Inputs include CAD tools, Game controllers, or other telemetry devices such as the Myo armband.
- 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.
- 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.
Attaching and Detaching Objects During Manipulation
- Objects such as tools can be attached and detached from manipulators.
- Attached objects can be assigned directions at any time during the sequence.
Building a Manipulator
- 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.
Activating Collision Detection
- Collision detection can be activated in Actin® by verifying the simulation is stopped and accessing “Edit” → “Position Control System” → “Control System Parameters” and finally the active Control System Description.
Activating Collision Avoidance
- Collision avoidance can be activated in Actin® by verifying the simulation is stopped and accessing “Edit” → “Position Control System” → “Control System Parameters” and finally the active Control System Description.
- Actin® utilizes bounding volumes and decomposed convex hulls for collision avoidance.
- The Actin® Dexterity Plugin provides a visualization of the available manipulability at any given pose of a manipulator.
- The Dexterity Plugin will display remaining manipulability regardless of the number of degrees of freedom.