1. Draft manual IPS 2.0 Robotics education HM Automation Solution Education

2. Basics

3. Main Window IPS Drop down Menus Toolbar Control panel Status bar Simulation Window Output Window Static Geometry Headlight Active Objects Simulations Trash can Processes Open example scene barcelona.ips

4. Main Window IPS File toolbar Import Export scene Export geometry View toolbar Perspective Parallel/Orthographic view Std views Fit selection Fit scene Set as scene center Collision handling on/off Auto menu Viewpoint toolbar Capture view Captured views Recorder toolbar Start/Pause recording Stop recording Snap window Recording settings Creation toolbar Create geometry group Create frame Create new light source Create new length measure Create new angle measure Create new value measure Active objects toolbar Create planning process Create active group Create TCP selector Create TCP Create pose feature

5. Navigation in simulation window IPS Rotation with left mouse button Translation with right mouse button Zoom in/out with scroll wheel or right+left mouse button The same commands used in all types of movements / motions for both scene and objects.

6. Context Menu. Reached by selecting a Static/Rigid Geometry and press Right mouse button anywhere in the Geometry Tree or the Simulation Window. Editable object Name Open Placement Editor Enable/Disable rendering Use slider to set object transparency Right click on a static object Reset all translations and rotations to 0 Enable/Disable objects Open object Color dialog

7. Editable object Name Enable/Disable objects Reset all translations and rotations to 0 Open object Color dialog Use slider to set object transparency Right click on an Active object Context Menu. Reached by selecting an Active Geometry and press Right mouse button anywhere in the Geometry Tree or the Simulation Window. Enable/Disable rendering

8. Navigation / moving of Static objects Select the static object, press Ctrl+Alt the object coordinate system will be lighted up. Then you can use your mouse on the different axis to move or rotate. Two ways to translate / rotate an object Via “Placement editor” (exact) With Mouse (rough) “Rough” movement with the mouse according to previous instruction Rotation with left mouse button Translation with right mouse button Zoom in/out with scroll wheel or right+left mouse button Opportunities to choose coordinate systems for the movement in the Placement editor. Global (the 0 for the complete assembly) Parent (the subassembly coordinate system) Control Frame (self-created Frame)

9. Navigation / moving of an Active object To move an active object Via “Placement editor” (exact) Opportunities to choose coordinate systems for the movement in the Placement editor. Global (the 0 for the complete assembly) Parent (the subassembly coordinate system) Control Frame (self-created Frame) Select the Active object, press Ctrl+Alt the object coordinate system will be lighted up. You can now use your mouse on the different axis to move or rotate. To translate/rotate an active object Via “Control editor” (exact) With Mouse (rough) Rotation with left mouse button Translation with right mouse button Zoom in/out with scroll wheel or right+left mouse button

10. Tools for personal settings in IPS Navigation controls (Help/Navigation Controls) Hotkey Editor (Edit/Hotkeys)

11. Exercises

12. Simulation ex 1. Automatic Task Planning Import “barcelona.ips” scene Import “barcelona_tiles.xml” features Make sure nothing is selected Press “Create planning process” button Enter desired clearance in the “Clearance” text field Press the “Plan Tasks” button Press the “Sequence” tab

13. Simulation ex 1. Manual Sequencing Select “Home Position Left” and drag it to the “IRB Left” column Do the same with the three features that “IRB Left” can reach Now select the time for the path Reset the path in the Agent Solution Player Run it and see how it looks Try drag and drop the different features to different positions for better sequence time Now select “Home Position Right” and drag it to the “IRB Right” column Also drag and drop three features that “IRB Right” can reach Now go through the same procedure as for “IRB Left” and try to obtain as short sequence time as possible

14. Simulation ex 1. Manual Sequencing Click on one of the features and different performance alternatives for the actual agent will appear Click through the list of alternatives and take a look at the different configurations Double-click on the preferred alternative and it will be marked and you can also see it in the feature name (see below)

15. Simulation ex 1. Manual Sequencing Home Position Inter paths Tiles Enter desired clearance in the “Clearance” text field Select the inter paths to plan and click the “Plan inter paths” button (If no inter path is selected, all will be planned) Watch in what way the estimated cycle time have changed

16. Simulation ex 2. Automatic Sequencing Select the estimated cycle time text field Press “Plan Sequences” button Press OK in the dialog box For even better results you can let IPS calculate as good as possible within a given time frame: Fill in 0 in the gap solution text field Put in no. of seconds to calculate

17. Simulation ex 3. Manual Load Balancing and Sequencing Try to manually load balance and sequence the proposed features. In this case, the load balancing is trivial because each feature is reachable by one robot only.

18. Simulation ex 4. Automatic Load Balancing and Sequencing Select all features and agents Press the “Load balance and seq.” button Press OK in the dialog box Now IPS will automatically calculate which features each agent should take. It also calculates the order of the features and how the agent should take the features. It will even automatically calculate collision-free motions between the features. However, the agents still might collide.

19. Simulation ex 4. Automatic Coordination Enter desired clearance between agents in the “Clearance between robots” text field Select the agents to coordinate and press the “Coordinate” button Press No in the dialog box The result will appear in the “Coordinated solutions” list

20. Simulation ex 4. Automatic Load Balancing and Sequencing, optimized for coordination Select all features and agents Press the “Load balance and seq.” button Set gap to 0 and the calculation time to run over night Click the “Path-path collision” check box in the dialog box Press OK Now IPS will automatically calculate which features each agent should take. It also calculates the order of the features and how the agent should take the features and also take care of coordination. It will even automatically calculate collision-free motions between the features. However, the agents still might collide. Select the agents and press “Coordinate” button