QUARC Visualization Kuka KR 5 sixx R850 Robot

This is a visualization example for a typical industrial application. The mesh for a Kuka KR 5 sixx R850 model robot was acquired from the Kuka Robotics website (http://www.kuka-robotics.com) as a static fixed model. Using 3ds Max, the mesh was imported, separated into segments, and exported as x3d files. The hierarchy was then reassembled in the visualization, copied twice and animated. This model has been included with QUARC with permission and courtesy of Kuka Robotics.

If you would like to use this mesh in your own visualization, a model including a single robot arm can be merged into your scene from the $(QUARC_DIR)/resources/scene_files/products/kuka directory. Note that since the original file was in millimeters, the model spans several thousand units. You will need to scale the robot or other scene elements respectively.

QUARC Visualization Kuka KR 5 sixx R850 Robot Simulink model

Demonstration

To start the model, click the Run button on the toolbar, select Run from the Simulation menu of the diagram, or press Ctrl+T while the diagram is the active window. Using the A, S, D, and W keys on your keyboard, you can move around the scene. Click-drag your mouse on the visualization window to rotate your view.

If you would like to run the model in external mode, then select External from the Simulation/Mode menu of the diagram, or select External from the simulation mode combo box on the toolbar.

Then select Build from the QUARC menu of the diagram, or press Ctrl+B while the diagram is the active window. A great deal of output will appear in the Diagnostic Viewer about the progress of the build. If you cannot see the Diagnostic Viewer, you can open it by selecting View/Diagnostic Viewer from the menu of the diagram, or clicking on the View Diagnostics hyperlink at the bottom of the diagram. If you have MATLAB R2013b or earlier then the output will appear in the MATLAB Command Window.

When the build is complete, click on the Connect to Target button or select Connect to Target from the Simulation menu of the diagram to connect to the model.

Finally, start the model by clicking on the Run button or selecting Run from the Simulation menu of the diagram. The Start item of the QUARC menu may also be used to both connect and start the model in one operation.

Click on the Stop button or select Stop from the Simulation menu of the diagram to stop the model. The Stop item of the QUARC menu may also be used.

Running the example on a different target

To run the example on a different target, refer to the instructions on the Running QUARC Examples on Remote Targets page.