Two individual projects covering robot trajectory planning and sensor-based pick-and-place in ABB RobotStudio. I created the robot cells, configured tools and WorkObjects, and developed paths and handling logic for an ABB IRB 6650S-125/3.5 robot.
Author: Martyna Rydczak (Mirgi)
Poznan University of Technology
RobotStudio · RAPID · Offline programming · Robot motion · WorkObjects · I/O signals
I modelled a cell with a floor-mounted workpiece and wall-mounted objects, and configured a custom static tool with its TCP. I planned paths for following straight and curved edges and a surface, using joint, linear and circular motion instructions (MoveJ, MoveL and MoveC).
The station contains three path procedures, targets linked to WorkObjects, and a collision set. This project focuses on tool positioning and motion planning around objects with different geometries.
Download Project 1 package · View exported RAPID module
I created a gripper mechanism and a cell with two tables, then programmed the robot to transfer an object between them. The RAPID routine checks the sensor input to select the transfer direction, uses Attach and Detach output pulses for object handling, and returns the robot to its home target after the sequence.
The motion sequence uses MoveJ and MoveL, approach and pickup targets, and Workobject_3 as its reference frame. Tool and WorkObject definitions are stored in a separate calibration module.
Download Project 2 package · View RAPID routine · View tool and WorkObject definitions
I completed both projects individually. My work covered modelling the cells and tools, configuring the robot and reference frames, creating targets and motion paths, and programming sensor-based object handling in RAPID.
Download a .rspag package and unpack it using RobotStudio's Pack & Go workflow. The packages contain the station and virtual-controller data. The project metadata records RobotStudio 2024.3 and RobotWare 6.15.08.
The RAPID directory provides the exported controller modules for browsing. In Project 1, the planned trajectories are stored in the station; the exported controller module contains the tool definition and an empty main procedure. Use the station package to access the complete path-planning work.
| Folder | Contents |
|---|---|
| projects | RobotStudio Pack & Go packages |
| rapid | Exported RAPID modules |
| media/images | Station previews |