Sending trajectories to robots without EGM support

[jontje]

Seperate issue for @CaptainNUS's question from #66 (comment):

Hi @gavanderhoorn @jontje:

May I check if there is some other libraries or techniques to support sending trajectories to the FlexPicker robot? Right now I can only program with RAPID codes for robot control.

I used Python codes to get the desired position information and sent to the FlexPicker through socket. But I don't know how to do the motion planning with Python or C++ in Ubuntu system.

Any help is much appreciated. Thanks.

[jontje]

May I check if there is some other libraries or techniques to support sending trajectories to the FlexPicker robot? Right now I can only program with RAPID codes for robot control.

I would use RWS via abb_libegm's companion library abb_librws.

For example by:

1. Creating/generating the path/trajectory you want to follow.
2. Generate a RAPID module, with a RAPID procedure for running the path/trajectory.
3. Upload the module to the robot controller.
4. Load the module into the RAPID program.
5. Execute the newly loaded procedure.

If you are using abb_librws in combination with the RobotWare StateMachine Add-In, then you can for example do something like this:

abb::rws::RWSStateMachineInterface rws_interface("127.0.0.1");

// Home position (for an IRB360_1_1130_4D_STD_03).
std::string rt_home = "[[0,0,-937.463],[0,1,0,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]";

//--------------------------------------------
// Create mockup points for a path
//--------------------------------------------
abb::rws::RobTarget rt_1;
abb::rws::RobTarget rt_2;
abb::rws::RobTarget rt_3;
rt_1.parseString(rt_home);
rt_2.parseString(rt_home);
rt_3.parseString(rt_home);

rt_2.pos.x.value += 200.0;
rt_2.pos.y.value += 200.0;

rt_3.pos.x.value += 200.0;
rt_3.pos.y.value += 200.0;
rt_3.pos.z.value -= 200.0;

//--------------------------------------------
// Create a RAPID module
//--------------------------------------------
std::stringstream ss;
ss << "MODULE MockupPath(SYSMODULE)\n"
   << "\tPROC Path0()\n"
   << "\t\tMoveL " << rt_1.constructString() << ", v300, z30, tool0;\n"
   << "\t\tMoveL " << rt_2.constructString() << ", v300, z30, tool0;\n"
   << "\t\tMoveL " << rt_3.constructString() << ", v300, z30, tool0;\n"
   << "\t\tMoveL " << rt_2.constructString() << ", v300, z30, tool0;\n"
   << "\t\tMoveL " << rt_1.constructString() << ", v300, fine, tool0;\n"
   << "\tENDPROC\n"
   << "ENDMODULE";

//--------------------------------------------
// Upload, load, run and unload the module
//--------------------------------------------
rws_interface.uploadFile(abb::rws::RWSClient::FileResource("MockupPath.sys"), ss.str());
std::this_thread::sleep_for(std::chrono::milliseconds(500));

rws_interface.services().rapid().runModuleLoad("T_ROB1", "HOME:/MockupPath.sys");
std::this_thread::sleep_for(std::chrono::milliseconds(500));

rws_interface.services().rapid().runCallByVar("T_ROB1", "Path", 0);
std::this_thread::sleep_for(std::chrono::milliseconds(5000));

rws_interface.services().rapid().runModuleUnload("T_ROB1", "HOME:/MockupPath.sys");

Here is a video showing a RobotStudio simulation when running the code: IRB360 trajectory via abb_librws.zip. Note how the left side shows how the RAPID module is loaded during runtime.

And you can of course use MoveJ instead of MoveL, different tools, zones and specifying the time to reach each point etc.

[G.A. vd. Hoorn]

As this is not really an issue with the package in this repository, I'm going to close it.

Feel free to keep commenting on this issue of course.

I hope @CaptainNUS was able to benefit from the comment by @jontje.