Robot movement

[GeorgK]

Hello together,

I found this post:

https://forums.autodesk.com/t5/inventor-customization/robot-path-generation-from-3d-cad/m-p/8289075

which is very interesting. Does anyone have experience with controlling robots in Autodesk Inventor? Or has someone already programmed something in this direction? What could be the ideal process? Create points that the robot should approach and place a spline through the points and then drive it off.

I found this attempts:

http://www2.dem.uc.pt/pedro.neto/PUB/IC/IC_11.pdf

http://www2.dem.uc.pt/pedro.neto/PUB/IC/IC_3.pdf

https://estudogeral.sib.uc.pt/bitstream/10316/27383/1/Direct%20off-line%20robot%20programming%20via%...

Thank you

Georg

[AlexFielder]

Hi @GeorgK,

This appears to be the profile of the researcher involved in the papers you linked to:

https://www.researchgate.net/profile/Pedro_Neto2

I've had a quick search around github and he doesn't seem to have shared any code relating to the topic (that I can find so far) but then the video in the other topic you linked to is ~9 years old.

[GeorgK]

Hello @AlexFielder,

I didn't find any code from those projects. Are you interested to develop some tools?

Georg

[chandra.shekar.g]

@GeorgK,

Hoping that suggestions in below blog link may be helpful.

http://adndevblog.typepad.com/manufacturing/2012/06/get-equi-distant-points-on-curve-using-parameter...

In this blog, a 2D spline is used to get points at equidistance.

Thanks and regards,

[GeorgK]

@chandra.shekar.g

Is there a function for 3dsplines as well?

[GeorgK]

@chandra.shekar.g

@AlexFielder

https://www.codeproject.com/Articles/22535/Interpolation-of-BezierSplines-and-Cubic-Splines

[chandra.shekar.g]

@GeorgK,

Unfortunately, points at equidistance in 3D spline may not achievable one.

I found a alternative approach to calculate points along 3D spline. This approach is triggered by below screencast video link.

https://knowledge.autodesk.com/support/inventor-products/learn-explore/caas/screencast/Main/Details/...

In this approach, a workpoint will be created at start point of 3D spline. Then, work point is pattern through RectanglarPatternFeature at desired numbers (In this example, 50 is number) as shown below.

 Sub Calculate_Points()
 
    Dim oDoc As PartDocument
    Set oDoc = ThisApplication.ActiveDocument
    
    Dim oDef As PartComponentDefinition
    Set oDef = oDoc.ComponentDefinition
    
    Dim oPt As WorkPoint
    Dim cnt As Integer
    cnt = oDef.WorkPoints.Count
    Dim i As Integer
    For i = 2 To cnt 'As first workpoint would be origin of Document, from 2nd point is considered.
        Set oPt = oDef.WorkPoints.Item(i)
        Debug.Print ("X : " & oPt.Point.X & " Y : " & oPt.Point.Y & " Z : " & oPt.Point.Z)
    Next
    
 End Sub

Using VBA code, points along 3D spline can be evaluated. Result for attached part(3D Spline_part.ipt) is as below.

X : -2.46898259348225 Y : -1.40508689238043 Z : 0
X : -2.71050315324226 Y : -1.19618511793428 Z : 0.158557339645586
X : -2.94644675335194 Y : -0.975929846994496 Z : 0.310163146331132
X : -3.17392306599431 Y : -0.741029563399514 Z : 0.452245501532895
X : -3.38767887017583 Y : -0.486270063951254 Z : 0.580398620041887
X : -3.57650506158435 Y : -0.203160125884033 Z : 0.685896478424769
X : -3.71152825164767 Y : 0.119366086561862 Z : 0.74840442076525
X : -3.72270096159725 Y : 0.47017234345809 Z : 0.725473894196636
X : -3.56550586596302 Y : 0.761850601996243 Z : 0.605203256622316
X : -3.31626580647378 Y : 0.959609873232407 Z : 0.446556299186176
X : -3.03066689632245 Y : 1.09601841698217 Z : 0.283033052878371
X : -2.72709280008959 Y : 1.19459504535069 Z : 0.12429834151262
X : -2.41213654829953 Y : 1.26773749409372 Z : -0.026114161886064
X : -2.08881016979362 Y : 1.32235286918349 Z : -0.166083225166605
X : -1.75851265397028 Y : 1.36265780204705 Z : -0.29385260221132
X : -1.42192442726761 Y : 1.39136656261154 Z : -0.407533804189369
X : -1.0795059513938 Y : 1.41027768644489 Z : -0.504805210151995
X : -0.7317441584476 Y : 1.42059620920782 Z : -0.582706127256179
X : -0.379378389313913 Y : 1.42311052987894 Z : -0.637420016254555
X : -2.37621625549078E-02 Y : 1.4182919848087 Z : -0.66403601938784
X : 0.332187328054961 Y : 1.40637688064561 Z : -0.656421602013299
X : 0.684703345605513 Y : 1.38736963799945 Z : -0.607352670438247
X : 1.02627509628939 Y : 1.36117888105942 Z : -0.509546355019176
X : 1.34685019987767 Y : 1.32765773391351 Z : -0.358115067101314
X : 1.6361187650665 Y : 1.28647637537227 Z : -0.153431258415742
X : 1.88541615199245 Y : 1.23710192643129 Z : 9.53280399010263E-02
X : 2.09612020917794 Y : 1.17705773811351 Z : 0.37632131899589
X : 2.27610133194124 Y : 1.10081750484712 Z : 0.674410254835628
X : 2.44242741453148 Y : 0.995375094723439 Z : 0.97141720432737
X : 2.62195803290582 Y : 0.832276951837899 Z : 1.23070140006612
X : 2.83915708748131 Y : 0.579155258830164 Z : 1.32915824372238
X : 3.03621259386137 Y : 0.325145357235721 Z : 1.18497892506639
X : 3.18945916977914 Y : 0.12326921999316 Z : 0.933394249771263
X : 3.31262582500243 Y : -3.95504397012549E-02 Z : 0.642847511898662
X : 3.4147085351109 Y : -0.175145207189773 Z : 0.330061388726886
X : 3.49835536126774 Y : -0.287909358819233 Z : 1.81472224989898E-03
X : 3.56312039385875 Y : -0.378531894215993 Z : -0.336845200000238
X : 3.60704708302688 Y : -0.446145673891437 Z : -0.683941953365482
X : 3.6258372641962 Y : -0.48748969281402 Z : -1.03753711156675
X : 3.6120221057882 Y : -0.496212743055283 Z : -1.39351869335621
X : 3.55366094164134 Y : -0.461837617967627 Z : -1.74415467383304
X : 3.43626599016305 Y : -0.371225499830548 Z : -2.06660166837566
X : 3.25145928068042 Y : -0.216874171729289 Z : -2.32714905188019
X : 3.01441426386791 Y : -1.27330027740926E-02 Z : -2.49522097465731
X : 2.7528944630157 Y : 0.215329383311388 Z : -2.57391668858989
X : 2.48502903555953 Y : 0.450108931456778 Z : -2.58552105070323
X : 2.21837392400982 Y : 0.684246521821899 Z : -2.55018730801869
X : 1.95584119578995 Y : 0.914827259367977 Z : -2.48173851663527
X : 1.69702536728794 Y : 1.14203403106343 Z : -2.38874732893089
X : 1.44294865358406 Y : 1.36488564150061 Z : -2.27743729393491

Thanks and regards, 

[GeorgK]

Hello @chandra.shekar.g,

thank you very much. Is there no solution to calculate the points? It must be possible to interpolate the spline.

[chandra.shekar.g]

@GeorgK,

I will let you know if I found any solution to interpolate the spline.

Thanks and regards,

[GeorgK]

@chandra.shekar.g

Could you find a solution for the problem?