Creating a Track Using Interpolation Modes

You specify the interpolation mode of a Track by selecting Linear, Spline or Composite Spline interpolation in the Track Authoring dialog box. You can create and modify these Tracks in simulation or work plan mode.

This task shows you how to:

Before you begin: Open your session data in Assembly Evaluation.
See Also
Track Authoring Dialog Box

Create a Track with Spline Interpolation

You can create a Track in Spline interpolation mode. The Track is created by means of an interpolated spline curve which passes through the selected Trajectory points (T-Points). Tangential continuity is kept at each point where there is a change of direction.

Before you begin: Open a manufacturing simulation in the 3D Simulation environment of Assembly Evaluation.
  1. From the Simulation section of the action bar, click New Track .
    The Track Authoring context toolbar appears.
  2. Select Snap Anchor in the context toolbar and define the anchor position before authoring the Track.
  3. Select the product to move.
    The Robot snaps on to the product you selected (if you selected several products, the Robot is attached to the first one you selected). The context toolbar proposes a set of commands for Track authoring and the Experience Player appears.

    The Track Authoring dialog box can be accessed by clicking Track Authoring at the right edge of the work area.

  4. Select Spline in the Interpolation Type list of the Track Authoring dialog box.
  5. Move the Robot along the W/Z direction by 100 units and record the T-Point.
    The product moves 100 units in the W/Z direction. A linear segment is created.
  6. Move the Robot along the U/X direction by 100 units and record the T-Point.
    Product moves 100 units along the U/X direction. The trajectory is now a spline obtained by interpolating a curve through the set of T-Points.



  7. Click OK in the Track Authoring dialog box.
    The Track is created with spline interpolation.

Create a Track with Composite Spline Interpolation

You can create a Track in Composite Spline interpolation mode. The Track is created by means of linear segments and spline curve sections which pass through the selected T-Points. If there is no change of direction between two points a linear segment is created. If there is a change of direction, tangential continuity is kept at each point and a spline curve section is created.

Before you begin: Open a PPR Context in the 3D Simulation environment of Assembly Evaluation.
  1. Click Show Gantt Chart .
    The Manufacturing System Gantt chart appears.
  2. Right-click an operation in the Gantt chart and select Create Track.
    The Track Authoring context toolbar appears.
  3. Select Snap Anchor in the context toolbar and define the anchor position before authoring the Track.
  4. Select the product to move.
    The Robot snaps on to the product you selected (if you selected several products, the Robot is attached to the first one you selected). The context toolbar proposes a set of commands for Track authoring and the Experience Player appears.

    The Track Authoring dialog box can be accessed by clicking Track Authoring at the right edge of the work area.

  5. Select Composite Spline in the Interpolation Type list of the Track Authoring dialog box.
  6. Move the Robot 200 units along the V/Y record the T-Point.
    The product moves to the desired location. A linear trajectory is created between TPoint1 and TPoint2.
  7. Move the Robot 100 units along U/X and record the T-Point.
    The product moves to the desired location. The trajectory is modified from linear to spline type from TPoint1 to TPoint3.
  8. Move the Robot 100 units along U/X and record the T-Point.
    The product moves to the desired location. A linear segment of the trajectory is created from TPoint3 to TPoint4.
  9. Move the Robot 100 units along the U/X direction and record the T-Point.
    The product moves to the desired location. A linear segment of the trajectory is created from TPoint4 to TPoint5.
  10. Move the Robot -100 units along the V/Y record the T-Point.
    The product moves to the desired location. A trajectory segment of spline type is created from TPoint4 to TPoint6.



  11. Click OK to finish recording the Track.
    The Track with composite spline interpolation is created under the operation.