COSIMIR

Hello readers today I'm gonna tell you about COSIMIR, this is a simulator for lean cell, you can program a robot for an specific duty. I'm gonna show you how COSIMIR looks, this program is not free, you have to buy the license, perhaps, you can download the free trial, this trial gives you all the facilitys that the licenced have, but not will let you put your program in the robot or save any extra thing that you put in the work cell. like for example, if you want a table for the process you have to put the table anytime you open the program. Well this is the interface, is what you will see when you open COSIMIR

as you can see on the top says "COSIMIR Educational"then we go to the file menu and select project wizard

then a menu like this will appear

then you need to fill the spaces, because it's your first file you will not have trouble with the name, but, if you create many files you have not to give them the same name, because this will let you not do your program. the next step is to select the robot.

I've always choose the RV2AJ because you can program it with MELFA BASIC-IV

 

And a screen like this will appear, you say ok to the dialog window

And this is the workspace of the program

 

the robot cell is where you will see your robot moving, the simulation, here also you will see the extra things that you put in there like tables, cubes or conveyors. in the coordinate window is where you put the coordinates that your robot will move, and the program window is where the code is written, an example of code you can see my other post .

I think this cover the basis of what COSIMIR is, I'm going to be uploading a couple of practice. Thanks for reading.

COSIMIR practice

Hello readers in this post I'm gonna tell you about how to program a robotic arm to make a pyramid. This robot is in my school and I do practice in it, so, I'm gonna tell you the code and the video of how it works. This program is in MELFA BASIC IV that is a language used commonly to control robots of this type, this robot that we are talking about is a RV1A a mitsubishi and the enviroment to program is a compiler called COSIMIR, this compiler is made by FESTO, this time I'm not going to talk about this very deep, but in further post I'm going to explain what is MF-IV a RV1A robot, and why not what is COSIMIR and what is FESTO also. Today I will focus on the code to accomplish the task. Here you can see the code with comments.

10 WAIT M_IN(4) = 1          'THIS MEANS THAT THE PROGRAM WILL START IF THE INPUT 4 IS ON
20 SPD 50                         'THIS IS THE SPEED OF THE ROBOT IS 50% OF IT'S CAPACITY
30 OVRD 50                       'THIS IS THE ACCELERATION OF THE ROBOT IS AT 50% OF     IT'S CAPACITY
                                                    'IS IMPORTANT TO TELL THAT THE SLOW SPEED IS A SECURITY MEASURE

40 MOV P1                    'HOME POSITION
50 '1ST CUBE                           
60 MOV P2                    'THIS IS A SECURE POSITION BEFORE TAKING THE CUBE
70 HOPEN 1                   'THIS COMMAND OPENS THE GRIPPER OF THE ARM
80 DLY 1                       'THIS COMMAND MAKES THE ROBOT TO WAIT ONE SECOND TO MOVE      
90 MVS P3                    'THIS POSITION IS FOR TAKING THE CUBE
100 HCLOSE 1               'THIS COMMAND CLOSES THE GRIPPER OF THE ARM
110 DLY 1
120 MVS P2                   'THIS IS A SECURE POSITION BEFORE RETURNING TO HOME POSITION
130 MOV P1                   'HOME POSITION
140 'LEAVING 1ST CUBE
150 MOV P4                   'SECURE POSITION
160 MVS P5                   'POSITION FOR LEAVE THE CUBE
170 HOPEN 1
180 DLY 1
190 MVS P4                   'SECURE POSITION
200 MOV P1                    'HOME POSITION
210 '2ND CUBE
220 MOV P6                   'SECURE POSITION
230 HOPEN 1
240 DLY 1
250 MVS P7
260 HCLOSE 1
270 DLY 1
280 MVS P6                   'SECURE POSITION
290 MOV P1                    'HOME POSITION
300 'LEAVING 2ND CUBE
310 MOV P8                   'SECURE POSITION
320 MVS P9
330 HOPEN 1
340 DLY 1
350 MVS P8                   'SECURE POSITION
360 MOV P1                    'HOME POSITION
370 '3RD CUBE
380 MOV P10                   'SECURE POSITION
390 HOPEN 1
400 DLY 1
410 MVS P11
420 MOV P1
430 DLY 1
440 MVS P10                   'SECURE POSITION
450 MOV P1                    'HOME POSITION
460 'LEAVING 3RD CUBE
470 MOV P12                   'SECURE POSITION
480 MVS P13
490 HOPEN 1
500 DLY 1
510 MVS P12                   'SECURE POSITION
520 MOV P1                    'HOME POSITION
530 '4TH CUBE
540 MOV P14                   'SECURE POSITION
550 HOPEN 1
560 DLY 1
570 MVS P15
580 HCLOSE 1
590 DLY 1
600 MVS P14                   'SECURE POSITION
610 MOV P1                    'HOME POSITION
620 'LEAVING 4TH CUBE
630 MOV P16                   'SECURE POSITION
640 MVS P17
650 HOPEN 1
660 DLY 1
670 MVS P16                   'SECURE POSITION
680 MOV P1                    'HOME POSITION
690 '5TH CUBE
700 MOV P18                   'SECURE POSITION
710 HOPEN 1
720 DLY 1
730 MVS P19
740 HCLOSE 1
750 DLY 1
760 MVS P18                   'SECURE POSITION
770 MOV P1                    'HOME POSITION
780 'LEAVING 5TH CUBE
790 MOV P20                   'SECURE POSITION
800 MVS P21
810 HOPEN 1
820 DLY 1
830 MVS P20                   'SECURE POSITION
840 MOV P1                    'HOME POSITION
850 '6TH CUBE
860 MOV P22                   'SECURE POSITION
870 HOPEN 1
880 DLY 1
890 MVS P23
900 HCLOSE 1
910 DLY 1
920 MVS P22                   'SECURE POSITION
930 MOV P1                    'HOME POSITION
940 'LEAVING 6TH CUBE
950 MOV P24                   'SECURE POSITION
960 MVS P25
970 HOPEN 1
980 DLY 1
990 MVS P24                   'SECURE POSITION
1000 MOV P1                   'HOME POSITION
1010 END                        'ENDS THE ROUTINE

And there is the code, you'll ask why security position, that's why because in the industry you have to have all the posible precautions and minimeze the risk to the minimum, so this positions gives to the operators some time to see if there is going to be any collision.

Another  doubt that I will surely have would be why to return to the home position everytime I leave or take a cube, well, that's why we have to avoid any risk of collision, so, with that maneuver we take care of that.

Also we add the dly function to delay the movement of the robot, for security, if we don't leave that retardment we can cause an accident, imagine that the gripper did not grab correctly the piece that we are moving and with the movement it throws away the piece and hits someone and that someone dies, so, it's for caution. In further post I will explain the different commands in MF-IV, so stay tuned. I leave here the video of the practice. Please be welcomed to leave any comment or doubts.

http://www.youtube.com/watch?v=-WR00mXBm94&feature=share&list=UUFiTSfQiEGjjQi8tf1kidsQ

Bioloid

Hi readers long time no read, I've been busy lately, but I have a video about a hobby robot in my school, the routine in the video is pre-installed. In my school make routines with LABView but they are not in that robot yet. Well I leave this video to show you that robots are fun. Enjoy

Bioloid

Artificial Vision

Hi people it's been a long time since I wrote here, today I'm gonna talk about Artificial Vision, for this introduction I'm gonna put some interesting info about it, and then I'm going to the main attraction.

The vision is a very useful mechanism of the human being, so the interest of the people to give this hability to the machine is not new, It's pretty difficult to mimic this skill in an artificial way, the thing is that the machine, the robot, or the computer, are dumb so, we need to explain to them clearly, and how to explain it clearly, that's a big deal.

First of all we need to capture the image,then process the image, and then the machine will know what is seeing.

There are some steps that must be taken to accomplish a good process of vision.

Computer Vision block diagram 

We are going to make all the experiments with the Vision library called Opencv, later I'm gonna told you what is the Opencv Library.

Bibliography:
Visión por computador Imagenes digitales y aplicaciones.Pajares G. de la Cruz J.Alfaomega

C

Hi people, this time I'm gonna write about a programming language that, in my opinion, the school must teach the kids in primary level, and become the second lenguaje, but that would be a dream, so, for us, that we did not learn C until the University. I'm going to tell you some stuff about it. The C language is in fact an evolution of 2 past languages called BCPL and B. Dennies Ritchie in 1972 evolved the B language in the Bell laboratories in a DEC PDP-11 computer.The C language is wide, so wide that is used in many platforms.

Well let's star with something easy, Because I learn better seeing an example Im going to write a simple one, to explain some C.

This Basic program prints text in a window

#include <stdio.h> /*This is a directive of the preprocessor of C.
This can be known as header of C, this headers are used to to call
the funtions from the library.*/

int main (void) /*this line takes part of almost ALL programs in C if the int
is not ther the program can't be initalized.The () that appear after main says
that main is a construction block for programs called "function"*/

  { //the () indicates the body of the function. this one indicates the beggining
      printf("Welcome to C! \n"); /*the printf is an instruction that indicates
      to the computer what to do, in this case is to print in a console window
      the word or words between the "" inside the () */
     
      return 0;//This line indicates that the program finished with success
  } // This one indicates the end of the function


This is the result of the program

Fig01.-This is the window appears if you run the program that is written up there

I hope this help for introduction to C, I'm going to write more entries about it. Thanks for reading.




Bibliography:
C/C++ Cómo programar.4ta Edición.Deitel

Robotics

Hi, in this entry I'm gonna explain some stuff about Robotics. Robotics have many terms whitin, Talking about robots, we refer to electronics, programming, maths, control theory, mechanics and some complicated themes. We have to know about all of this to make a robot.

But let's bring the curious information about robots.


The robot institute of america says that a robot is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized deviced through variable programmed motion for the performance of variety task.


The Methods to classifiy a robot are this

• Arm configuration
• Shape of workspace
• Operating Method
• Type of controller
• Type of power
• Size
• Type and number of joints
• Type of technology
• Task being performed
• Generation of design
• Type of motion

With this classifications, a robot can be classified in many methods.This is only a short introduction to this interesting and wide theme. For more information I recommend the links below.

Bibliography:
http://mechatronics.poly.edu/smart/pdf/Intro2Robotics.pdf
http://www.depeca.uah.es/depeca/repositorio/asignaturas/5/IntroduccionRobotica.pdf
http://robotics-101.weebly.com/classifications-of-robots.html
http://www.hgs.k12.va.us/Engineering_and_Robotics/Robotics/FlashPaperVersion/ROB_Chapter11.html

Welcome to the world of Noob

This blog has the intention to be a help for people like me, who wants to learn about programming, robotics and electronics and know anything about it, and the information in books it's too difficult to understand. So I've figured out to create this blog, to give you a "noob perspective" for what I've found interesting about my investigations. I hope this would help someone. Enjoy!