UPDATED- Download Virtual Human 1.1

FlorianKnecht

Dear All,

Updated to Version 1.1 (Installable Package): 

• Please have a look in the attached "README.txt", there you can also find the Version History.
• Please note, that the Files from the old Version should be deleted completely (e.g. RS_Virtual_Human Folder)- you can stil use your RAPID codes or CAD Files (those are backward compatible)
  

I am proud to release the new Version of the Virtual Human for RobotStudio. 

You can get more detailed information’s/ manuals and tutorial videos from the project folder uploaded in the ABB Library.  

Download Link:

http://search.abb.com/library/Download.aspx?DocumentID=9AKK107991A0911&LanguageCode=en&DocumentPartId=&Action=Launch

Please Note: 

• If you have access to our SharePoint (ABB internal), it's recommended to view the Project there as it is more nicely presented.

https://abb.sharepoint.com/teams/collaborativerobotsandwizardeasyprogramming/SitePages/Virtual-Human.aspx

Short Overview:

What is the Virtual Human?

The Virtual Human consists of:

1. A Smart Component
2. A Robot Controller (SAC, IRC 5)
3. Eleven Mechanisms (including the Controller Mechanism)
4. Different CAD Versions

 

What can the Virtual Human do?

1. Positioning a Human inside of a Station 
2. Programming a Human with RAPID
3. Creating Simulations containing a Human

 

How can it be installed?

1. Download the folder ‘Virtual Human’ from the ABB Library. Follow the instructions in the document (contained in the folder): 
   

‘_Virtual Human Installation.docx’

 

Please contact me via email or post in the RobotStudio Forum if you:

1. run into issues with the Human
2. found a bug for the Human
3. created more content for the human (e.g. CAD Versions, Positions, RAPID functionality) – If you want to share it, I can embed it in the next release of the Human.
4. have new ideas depending on this project -> please have a look at the document  

“Virtual Human Future.docx”

Email: [email protected]

Best regards,

Florian

Maxim Riabichev

Cool!

DenisFR

Great Work.

For saved positions, prefer use ISO format as YYYYMMDD_HHNNSS.

For your video, this becomes jpFingers_20200731_200902.

In HM_Functionality_HighLevel.sys:VH_PLAN_ReferenceRotation, you wrote:

        WHILE TargetTransRot_LOCAL.n_RotDegree_Z > 180 DO TargetTransRot_LOCAL.n_RotDegree_Z:= TargetTransRot_LOCAL.n_RotDegree_Z - 360;
        ENDWHILE

Here a function I've wrote (should be integrated in RAPID  ):

  ! Return modulo in range +-(pnDiv/2)
  LOCAL FUNC num NumMOD(num pnNum, num pnDiv)
    VAR num vnRes;
    VAR num vnRes2;

    vnRes:=((pnNum / pnDiv)-Trunc(pnNum / pnDiv)) * pnDiv;
    vnRes2:=vnRes;
    IF (vnRes < (0 - (pnDiv / 2))) vnRes2 := vnRes + pnDiv;
    IF (vnRes > (0 + (pnDiv / 2))) vnRes2 := vnRes - pnDiv;
    RETURN vnRes2;
  ENDFUNC

You then can use it in other place in code.

In HM_Functionality_HighLevel.sys:VH_Plan_WalkToPosition

        n_WalkDistance_mm := sqrt(Pow(n_Distance_X,2)+Pow(n_Distance_Y,2)+Pow(n_Distance_Z,2));

To

        n_WalkDistance_mm := Distance(,);

Did you plan to expose your code in Git repository?

So many user can contribute in it.

PS: Can you add in RS devs todo list this request?

https://forums.robotstudio.com/discussion/11633/wish-add-group-attribute-on-smart-component-properties#latest

FlorianKnecht

Dear DenisFR,

Thanks for your constructive & correct suggestions, they will be implemented.
Collection: 

Saved positions, use ISO format as YYYYMMDD_HHNNSS:
-> I will use YYYYMMDD_HHNNSS_SSS, (adding ms was already planned before, reason: avoid RAPID errors)
Reference value inside a specific area:
-> Thanks for this function, I will use it in my code (I will maybe rename it, & comment that it was written by you ) -> Additional: In some places I will keep my method, as it is faster in most of my use cases.
Distance:
Of course, didn't know the name that's why I coded it by myself.

Did you plan to expose your code in Git repository?
Yes, for the whole RAPID code, I will inform when it's exposed, hopefully within the next two weeks.

---
PS: Can you add in RS devs todo list this request?
Please make your request more exact, I am pretty sure you will get help or at least an answer afterwards.  (How you imagine it should be, along of pictures and detailed descriptions - The dev Team has a lot of work, if the question is not defined exact, nobody will find the time to check what was meant)

Best regards, Florian