A. de Giorgio and L. Wang, "Artificial Intelligence Control in 4D Cylindrical Space for Industrial Robotic Applications", in IEEE Access, vol. 8, pp. 174833-174844, 2020, doi: 10.1109/ACCESS.2020.3026193.
Create an ABB IRB 1600 controller in ABB RobotStudio and load "Module1.mod" as a RAPID code module. Run the module.
- Import all the files in the same folder.
- Run "a_setup.m".
Note: The ABB controller RAPID code must be executed before running "a_setup.m".
- Control the robot with A* using the command "fm":
>> fm
Input each coordinate when requested.
- Control the robot with diagonal-A* using the command "fmd":
>> fmd
Input each coordinate when requested. This allows the robot TCP to move diagonally and skip adjacent cells.
Go up one cell:
>> gu
Go down one cell:
>> gd
Go one cell towards the human facing the robot:
>> gc
Go one cell backwards from the human facing the robot:
>> gb
Go left one cell:
>> gl
Go right one cell:
>> gr
Change orientation UP:
>> ou
Change orientation DOWN:
>> od
Change orientation CENTER:
>> oc
Change orientation LEFT:
>> ol
Change orientation RIGHT:
>> oor
Go to home position with A*:
>> gh
Go to home position with diagonal-A* (moving diagonally too):
>> ghd
Note that commands can be composed using a semicolon, for example:
>> gu;gu;gl;gl;gb;gb;gd;gd;gr;gr;gc;gc;