Simulation API

Description

Design Features

• Support for Coppelia Robotics virtual robot experimentation platform (CoppeliaSim)
• Full system modeling capability
• Visualization and selection of coordinate systems for multi-DOF systems like hexapods
• Pre-configured models connect directly to Aerotech's Automation1 iSMC controller
• Import custom objects as 3D mesh files
• Supports collision detection between all elements in the environment
• Control grippers and vacuum pickup devices with Aerotech I/O

Simple Operation

Creating a simulation is as easy as selecting an Aerotech product from the “Models” menu, mapping an Aerotech controller axis to the model, and clicking the start button. The model position will continually track the Aerotech controller axis position while the simulation is active.

Combine Objects from Multiple Suppliers

System modeling is not limited to Aerotech provided components. Custom actuators can be assembled from linear and prismatic motor primitives. Conveyors, SCARA robots, and 6-axis robots are included in the standard CoppeliaSim installation. Motors in CoppeliaSim supplied models can be controlled from within CoppeliaSim or linked to axes on the Aerotech controller.

Collision Detection

All objects in the environment can be checked for interference. Evaluation of interference can occur between moving and stationary objects – for example, the platform of a hexapod and a stationary fixture, or between moving objects, or a fixture attached to the hexapod platform and the hexapod struts (see image below). Visual indication of interference is user configurable. Collision events can be detected in the CoppeliaSim scripting environment with status sent to the Aerotech controller to halt program operation.