Using Create PUT

You can use the PUT activity in multiple ways.

This task shows you how to:

Before you begin:

  • Activate the resource selection.
  • The manikin and all other resources in your scenario.
  • The manikin must have defined at least one human task.

Note: If the track modifies outside of a PUT activity, this does not take the modification into account during a simulation.

See Also
PUT Dialog Box
GOTO Dialog Box
Editing Human Activities
Overriding the Simulation Time

Defining a PUT Trajectory Using an Existing Track

You can define a PUT trajectory using an existing track.

  1. Click the human location to snap the Robot if the selected track is not within the reachable distance.
  2. Drag the Robot closer to the track.
  3. Select the track.

    See Simulation.

  4. Click Next or Previous.
    These commands give you visual feedback on the object places and resolves at a given shot. Edit the existing track using these commands.
  5. Click Go to Return Phase.
    This defines a posture for the manikin once placing the object.
  6. Click OK.

Defining PUT Trajectory Using a New Track

You can define the PUT trajectory by creating the new track.

  1. Drag the graphic handle to the first position.
    The manikin segments (including spine, if applicable) update automatically in the 3D viewer.
  2. Click Insert.
    This records the first position of the object (shot).

    Create as many intermediate shots required to bring the object to the position/orientation. For every change in position or orientation, create an intermediate shot. Do not create an intermediate shot that combines both position and orientation; instead create two shots (one each for change in position and orientation).

    Note: Previously defined shots can be edited by using Previous or Next to traverse the track and place the object at the corresponding shot. The manikin assumes the posture resolved at that shot. Modify the position or orientation and click modify or delete.

  3. Click Go to return phase to create a return posture for the manikin.
  4. Click OK.

PUT Trajectory Definition - Regrasp and Reposition Between Shots

This describes the Create PUT Trajectory Definition -Regrasp and Reposition between shots.

  1. Click Regrasp .
    The Posture Section appears. Use these commands to modify and adjust the manikin segments.

    The existing constraint between one or more hands and the human interface does not modify. Only, the manikin posture can change (constraint with the human interface solves with the modified posture.) This functionality is useful in cases where modifying the neck/trunk has to be able to visualize the final position of the object during PUT execution.

  2. Click Exit Regrasp .

    The new offset between the human interface and the hand takes into account during the resolution.

    Note: While creating/editing the postures, use the Activate/Deactivate Constraints command (represented by a Lock) to specify if the constraints need resolving or not.

    When the Lock activates and using manikin manipulation tools, the existing constraint honors between the hand and the picked object.

PUT Trajectory Definition - Cumulative Snap

To precisely place or align an object, use the Cumulative Snap command. Once the final position defines, the viewer updates to show the arm segments reaching the object.

See Creating a Track Using Cumulative Snap.

Sensor-Based GET and PUT

This provides the capability for the GET and PUT commands to work with simulation sensors. The Manikin is able to pick and place multiple instances of the product (work-pieces) produced by a source.

See Creating a GET or REACH Activity.