Position from g-code

Question

Position from g-code

haniehes opened this issue 7 years ago · comments

Hi,
I am working with UR5 as a 6DOF robot and I connect to UR_modern driver trough ROS Kinetic. Actually, I need to translate a g-code file to robot positions. Hence, I tried to find out your g-code insertion method in order to combine it with my robot controller, but I couldn't distinguish it. I would be thankful if you could make this step of your program (g-code interpreting) more clear?

Maximilian Beck · Answer 1 · Mon Oct 30 2017 19:34:10 GMT+0800 (China Standard Time)

In the context of MRC the g-code is called MRIL (for MicroPede Robot Instruction Language). Therefore the g-code/MRIL parsing can be found in https://github.com/glumb/mrc/blob/master/src/MRILParser.cpp
The instructions are parsed char by char and the respective methods are triggered.
I attached a schema of the controller. I hope this helps.

hanieh esmaeeli · Answer 2 · Tue Oct 31 2017 17:09:35 GMT+0800 (China Standard Time)

Thanks for your fast response. I will try it.

Matteo Pantano · Answer 3 · Thu Dec 17 2020 17:49:17 GMT+0800 (China Standard Time)

Hey @haniehes were you able to do the integration for the UR? Would you mind share the final outcome?
Thanks!