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<h1 id="programmazione-avanzata-del-robot-primo">Programmazione Avanzata del Robot PRIMO</h1>
<hr />
<h2 id="cose-robodk">Cos’è RoboDK</h2>
<p><strong>RoboDK</strong> è un software di simulazione e programmazione offline per robot industriali. Permette di creare, simulare e ottimizzare percorsi di movimento in un ambiente virtuale prima di eseguirli sul robot reale. RoboDK supporta un'ampia varietà di robot e consente di generare codici di controllo personalizzati tramite post-processor, facilitando l’integrazione con sistemi hardware diversi.</p>
<hr />
<h2 id="come-si-importa-un-modello-primo">Come si importa un modello PRIMO</h2>
<p>Per lavorare con PRIMO in RoboDK, è necessario importare il modello 3D del braccio robotico. Questo modello include la struttura meccanica e i riferimenti cinematici degli assi.</p>
<p>L’importazione avviene tipicamente attraverso un file CAD o un file di definizione robot compatibile con RoboDK (ad esempio file <code>.stp</code>, <code>.igs</code> o un modello RoboDK <code>.rdk</code>). Il modello viene caricato nell’ambiente di simulazione, permettendo di visualizzare e manipolare il robot in 3D.</p>
<hr />
<h2 id="come-si-simula-un-movimento-e-si-esporta-il-codice">Come si simula un movimento e si esporta il codice</h2>
<p>Una volta importato il modello PRIMO, si possono definire traiettorie e movimenti per il robot all’interno di RoboDK. Attraverso l’interfaccia grafica o utilizzando script, è possibile:</p>
<ul>
<li>Creare percorsi con punti intermedi</li>
<li>Definire velocità e accelerazioni</li>
<li>Simulare l’esecuzione della traiettoria per verificarne la correttezza e assenza di collisioni</li>
</ul>
<p>Terminata la simulazione, RoboDK consente di esportare il codice di controllo specifico per PRIMO, adattato al suo firmware e hardware tramite un post-processor personalizzato. Questo codice è pronto per essere caricato e eseguito sul robot reale.</p>
<hr />
<h2 id="come-funziona-il-post-processor-personalizzato-per-primo">Come funziona il post-processor personalizzato per PRIMO</h2>
<p>Il <strong>post-processor</strong> è un componente software che traduce i movimenti e le istruzioni generati in RoboDK in un linguaggio di controllo comprensibile dal robot PRIMO.</p>
<p>Nel caso di PRIMO, il post-processor personalizzato converte le traiettorie in comandi compatibili con il controllo open-loop basato su motori passo-passo e invia istruzioni in forma di comandi passo-passo o G-code adattati al firmware usato.</p>
<p>Questo permette di garantire che il codice esportato sia ottimizzato per il funzionamento di PRIMO, rispettando i limiti meccanici, i parametri dei motori e la modalità di controllo open-loop.</p>
<hr />
<p><em>Questo documento fa parte della documentazione tecnica avanzata del braccio robotico educativo PRIMO.</em></p>
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