ROS LinuxCNC Link

Thanks for the examples.
To come back to my favourite question, how would we choose the Mode of movement (ie JOINT-,XYZ-,TOOL-mode) ?
Is it determined by the parameters given?


So if I wanted to execute a Joint move (ie without using the kinematics/inversekinematics) would I write:

line1 {type{rapid} point{endpoint} joint{90,90,0,148,62,-95} velstart{20} velend{20}}

If I then wanted to execute a move in XYZ cartesian mode (ie using the kinematics/inversekinematics):

line2 {type{line} point{endpoint} cart{100,200,10) eul(0,45,-45} velstart{20} velend{20}}

Is it possible to simulate the program before running it on the physical robot using a graphical STL model?

Hi Arciera,

Yes, you got it. I see your rapid move example has a initial velocity and a end velocity of 20.
If i see your example, i understand the syntax at first sight. The software know's what to do with these lines.
No need to choose mode.

Do you have a working robot halfile for mesa already?

Is it possible to simulate the program before running it on the physical robot using a graphical STL model?
Yes, it has the opencascade simulator in the touch screen tab. Later on i will finish that implementation.
I will be super easy to setup your robot model trough the touch screen mode.

For info:
The final programming line wich will be stored in the 1ms files are auto-completed during preprocessing.
I am really excited when i do a first run on real hardware. It will take some time to work trough the project now.

I do have a working hal file but it is not for a mesa board. Since I use Mitsubishi drives with an optical SSCNET bus I use dmitrys nyx-branch to be able to use his PCI-interface card. : github.com/yur7aev/linuxcnc/tree/nyx_master

So really since I'll need LinuxCNC with the SSCNET driver to run my hardware I don't know if I'll ever be able to get my robot to run on your application.

But here is my config anyway:



[edit]
I have removed the rather large STL model files.

Hi,

Ok, i will look at your hal file and report back.

Update,

The gui makes component with one buttonclick and loads it into the kernel.

Nice work! Teach modes for robots are good enough for moving things like a pallet around but fall short for most things with precision movements.

How would you be able to hook into something like machine vision that will create offsets for the "learned" paths? An example might be that a robot moves to the corner of a circuit board where there is a fiducial. The camera looks at the pattern and outputs an offset to center the end of arm tool.

Bari wrote: Nice work! Teach modes for robots are good enough for moving things like a pallet around but fall short for most things with precision movements.

How would you be able to hook into something like machine vision that will create offsets for the "learned" paths? An example might be that a robot moves to the corner of a circuit board where there is a fiducial. The camera looks at the pattern and outputs an offset to center the end of arm tool.

You may be able to use something like this www.intelrealsense.com/lidar-camera-l515/
These return a depth image stream (and infrared and rgb streams ) that gives a distance from the camera to objects at the pixel level
I've been playing with one for dimensioning parcels in keeping with your warehouse theme.... We just got integration with weighing scales integrated last night.