jose angel pinza robot

MEMORIA DE ROBOTICA INDUSTRIAL, PINZA ROBOT.

                                                    Brida soporte a la que se acopla la pinza robot.

Plataforma móvil para que se ajuste al objeto que se quiere coger.

Brazo móvil acoplado al servo.

Parte de la pinza donde se encuentra un espacio para acoplar el servo.

Desarrollo del programa en el Arduino en la que se ha programado el ángulo de apertura y de cierre.

Pinza con apertura y cierre accionada con un servo, este se mueve gracias a la programación dentro de una placa de Arduino.

Programación rapid.

CONST robtarget jose_10:=[[184.03,-7.03,489.63],[0.885872,0.00589275,0.463817,0.00835356],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

            CONST robtarget jose_20:=[[127.99,-135.19,487.55],[0.821449,0.195734,0.429849,-0.319591],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

            CONST robtarget jose_30:=[[140.14,-182.45,437.29],[0.885349,0.126476,0.242366,-0.376058],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

            CONST robtarget jose_40:=[[142.40,-217.50,342.91],[0.822036,0.171399,0.326766,-0.433709],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

            CONST robtarget jose_50:=[[147.22,-224.72,314.53],[0.78586,0.214554,0.406212,-0.413984],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

            CONST robtarget jose_60:=[[124.13,-189.04,437.07],[0.859173,0.103724,0.2081,-0.455804],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

            CONST robtarget jose_70:=[[224.21,-29.56,437.07],[0.970933,0.00768316,0.23239,-0.056792],[-1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

            CONST robtarget jose_80:=[[-8.64,224.96,438.64],[0.669977,-0.170289,0.153331,0.706132],[1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

            CONST robtarget jose_90:=[[-9.83,262.52,351.30],[0.63036,-0.289574,0.27156,0.667119],[1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

            CONST robtarget jose_100:=[[-7.83,199.21,471.73],[0.680807,-0.115977,0.0996525,0.716324],[1,-1,4,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

            CONST robtarget Adri_10:=[[188.61,-0.30,493.22],[0.898147,-

    ENDPROC

    PROC JOSE()

        MoveJ jose_10, v100, z50, tool0;

        MoveL jose_20, v100, z50, tool0;

        MoveL jose_30, v100, z50, tool0;

        WaitTime 1;

        SetDO DO_03, 1;

        WaitTime 1;

        MoveL jose_40, v100, z5, tool0;

        MoveL jose_50, v10, z5, tool0;

        WaitTime 1;

        SetDO DO_03, 1;

        WaitTime 1;

        MoveL jose_60, v20, z5, tool0;

        MoveJ jose_70, v100, z50, tool0;

        MoveJ jose_80, v100, z50, tool0;

        MoveL jose_90, v20, z5, tool0;

        WaitTime 1;

        SetDO DO_03, 0;

        WaitTime 1;

        MoveL jose_100, v100, z50, tool0;

    ENDPROC