Opencascade hal component, display and interact with 3d stepfile models

Hi Ariera,

Perfect info ! Will store this within the mitsubishi folder.
Today the robot was painted in original white colors, and it recieved a 25mm solid metal base plate.

The mitsubishi is happy with it's new gcode parser adapted from github, named gpr. The interfacing had to be coded. It's in the project now. It can read several syntaxes:

1. RepRap
2. LinuxCNC
3. Vectric
4. HAAS
5. Mazak

 

We have to make a tiny plan to interact with the original linuxcnc gui. There are some offsets to handle.
I think to set up a tiny test with linuxcnc axis running a gcode. Connect some motors and then see what happens.

Would it be an idea to write a component based motion planner?
A planner for xyz moves? Something simple... How do you think about this?

Ok. have a nice day.



 

How much effort would it be for a user to add an stl model of a gripper or other end effector to the flange?
In the folder of the stepfiles, there is a freecad file wich contains the robot model assembly.
Just add the gripper in the freecad file to the robot flange. Then export joint 6 to stepfile "joint_6.step" containing the gripper.

+1 If you want to have a open or closed gripper, user can code this in the opencascade c++ project.
Then you load 2 stepfiles for joint_6. One stepfile containing open gripper, and one containing closed gripper.
Then you can simple hide or show one of the stepfile's by connecting it to a hal pin.

+1 If you want to have a animated gripper, connected to a float value for open-close gripper distance, you can code this also
in the opencascade c++ project. The open-close distance is then done by a Trsf (transform) matrix. Or by a quaternion matrix.
Ready to use functions of this are already present in the "draw_primitives.h" class.

A video with linuxcnc axis_mm as position controller for xyz moves :
user-images.githubusercontent.com/448801...5d1-66722a014bb7.mp4

The sequence for loading this in the axis_mm.ini file, we add 3 hal files only :
HALFILE = machine.hal (interface machine to axis_mm.ini)
HALFILE = mitsubishi_rv_6sdl/mitsubishi_rv_6sdl.hal (contains machinemodel parameters)
HALFILE = link.hal (connects kinematic.so to opencascade.so)

Then the most interesting one is the "machine.hal" file wich does all the work, mention axis_mm has already
the servo-thread loaded in a previous hal file :

loadrt opencascade stepfilepath=/machines/mitsubishi_rv_6sdl (load the opencascade.so and point to the stepfile path)
loadrt kinematic (load kinematic.so)
addf opencascade servo-thread
addf kinematic servo-thread

net sig_testx joint.0.pos-cmd kinematic.pin-cartx-in (connect a axis_mm pin to a kinematic input pin)
net sig_testy joint.1.pos-cmd kinematic.pin-carty-in
net sig_testz joint.2.pos-cmd kinematic.pin-cartz-in

You mean instead of using the built in motion planner? Why not, but really for a robot to be limited to xyz will be a severe limitation to it's usability.
It would include joint move.

What would be the real benefits if we have a component based motion planner?
This component then includes reading and executing a gcode file.

What would be the benefits if we have a c++ linuxcnc interface gui instead of a python coded one like axis ?

Now the project evolves, it looks like a component based program is a very clean solution to create realtime programs.
If we go on this way the program can look like loading a few components:

1. motion.so (motion planner + gcode reader)
2. kinematic.so (convert gcode, jog, etc, coordinates to your kinematic model)
3. opencascade.so (display it)
4. load the .hal hardware file.

This modular build up, give's you freedom. Currently it looks impossible to use a stand alone motion controller from hal.
Or a stand alone gcode reader.

If we have a c++ linuxcnc interface gui, we could load and connect component's from a selection list on the fly.
Or load a hal project. Then it's also possible to load multiple motion planners at the same time !
This make's it possible to create programs for a complex machine cascade. Just a idea.







 

Hi Arciera,

Will build a multi axis motion planner component including the euler angles etc.
I have to be mentally prepared for this. I think within a few day's i am ready for this.

I expected that, with the use of the opencascade kinematic, doing coordinated moves in all 6 axis XYZABC wouldn't be a problem.
That is correct.

I know a way to link machines over the internet trough a component in a ultra secure way.
Later on i will provide a example about this technique.