Supported kinematics
A variety of kinematics (basic motions) that define the controlled movement of the robot are supported in the iguverse. In addition to the preconfigured kinematics, up to three more kinematically independent axes can be configured in IRC. Preconfigured kinematics include:
■ 2-axis and 3-axes delta robots
■ Gantry robots,
■ 2-axis (X and Y axis)
Figure 2: The “Jogging” tab (bottom left) in the iguverse immersive development environment can be used to enter motion profiles. (Image source: Igus)
■ 2-axis (Y and Z axis)
■ 3-axis (X, Y, and Z axis)
■ Robot arms (cobots),
A 3-button mouse or a gamepad can move and position a robot in the iguverse. With the IRC software, a user can freely move all axes of the digital twin in the 3D interface. A teach-in function supports the development of robot control software, even without a physical robot being connected. To implement teach-in, the user manually moves the virtual robot to the required position and defines how it moves there. The process is repeated until the complete motion profile has been created. The tool center in the IRC software allows users to add matching end effectors, like grippers, easily and automatically adjusts the tool center point on the robot. In addition, a connection to a higher-level industrial control system can be added.
The process begins by activating the robot using the “connect,” “reset,” and “enable” buttons as needed in the interface. The status LED on the IRC should become green, and the status should indicate “No Error.” The motion profile can now be entered using the “Jogging” tab (Figure 2). Gantry robots Gantry robots, like those included in the preceding examples of the iguverse, consist of two base X-axes, a Y-axis, and an optional Z-axis. The Y-axis is attached to the two parallel X-axes and moves back and forth in two-dimensional space. The optional Z-axis supports a third dimension of movement.
■ 3-axis (axis 1, 2, 3)
■ 3-axis (axis 2, 3, 4)
■ 4-axis (axis 1, 2, 3, 4)
■ 4-axis (axis 2, 3, 4, 5)
■ 5-axis (axis 1 to 5)
■ 6-axis (axis 1 to 6)
■ 4-axis SCARA robot
Easy programming for low-cost automation
Igus robots and the IRC are designed to support low-cost automation. That would not be possible without an easy-to-use programming interface.
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