Hi Rod,
Are you asking about some sort of 3rd party application that could be used to generate 6-axis GCode that could then be executed in our KMotionCNC/KFLOP ?
Regards TK
| Group: DynoMotion |
Message: 7697 |
From: Rodrigo Moreno |
Date: 6/19/2013 |
| Subject: Re: Software companion for robot arm control |
Yes that,
a) or also: a developing plattform to develop my customized application?
Based on that,
b) What is the data that KFLOP reads to generate motion, a cad file, axis time periods/direction, g-code list or what? I suppose whatever data it receives it storages in a kind of buffer (RAM ?) for then after buffered execute softly from it?
c) You said about g-code, is that also for realtime motion? example reproduce my human arm (bones muscle) in realtime in my robor arm? or are there different methods of control?
thx, Rod.-
--- In DynoMotion@yahoogroups.com, Tom Kerekes <tk@...> wrote:
>
> Hi Rod,
>
> Are you asking about some sort of 3rd party application that could be used to generate 6-axis GCode that could then be executed in our KMotionCNC/KFLOP ?
>
> Regards
> TK
>
>
>
>
>
> ________________________________
> From: Rodrigo Moreno <rodmore2@...>
> To: DynoMotion@yahoogroups.com
> Sent: Wednesday, June 19, 2013 9:58 AM
> Subject: [DynoMotion] Software companion for robot arm control
>
>
>
> Â
> Hello all,
>
> I'm planning to control a 6 axis robot arm with a KFLOP.
> I'm already working in the mechanics/hardware construction.
> Can someone advice me what application/system software combined with KFLOP software can drive a robot for welding style applications? (not necessarily an end software, it can be a plattform to develop it)
>
> Regards,
> Rod
> |
|
| Group: DynoMotion |
Message: 7705 |
From: Tom Kerekes |
Date: 6/19/2013 |
| Subject: Re: Software companion for robot arm control |
Hi Rod,
Regarding:
a - I would suggest the C# environment using our .NET interface to write your application. In the Software download there is a TeachMotion C# example that
does something similar. It is only a 2 axis example but allows an Operator to move the axes around while capturing the motion path and plotting it on the screen. The captured path can then can be written out in GCode format and executed in our KMotionCNC program. All this was written with just a few pages of C# code. Here is a demo video. (BTW this example also supports a Force Feedback Joystick so the operator can "feel" the boundary of where it is allowed to go which is pretty cool)
b - there are a few choices but basically our software methodology is to perform the more complex, but non-real time activities on the PC in our Motion Libraries. This includes things like Interpreting GCode, Kinematics, and Trajectory Planning. The result from that is downloaded to what we call the Coordinated Motion Buffer in KFLOP. This is a fairly low level format used to describe the motion. It basically consists of an 8 axes start point, 8 axes end point, and a 3rd order parameteric equation of how to move along (Interpolate) the linear segment.
c - No G Code isn't really appropriate for real-time teaching situations. The Teach Motion example handles this by constantly sending target positions to KFLOP that are derived from a Joystick. KFLOP has a MoveExp (move exponentially) command that works well with this type of thing (an unpredictably moving target). It converges toward the target exponentially. If the target gets far away from the current position it speeds up and as it converges closer it slows down.
HTH Regards TK
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