Need help on staubli TX 60

[snowingfish]

Hello,
 
I am using a Staubli TX60 robot and CS8C controller now. My project involves medical use, the task of the robot is to hold a tool, the tool needs to make a contact with the patient and follow the movement of the patient. So I need to write the postion and orientation matirx directly to the robot, and the postion and orientation information is from a postion sensor.
Right now, the position sensor is working, and how can I sent these information to the robot and control the robot?
Because we use QNX operating system, so I don't know the VAL3 still can be used for programming or not. I totally have no idea about it now.

Any help is appreciate,

[TygerDawg]

VAL3 works differently from all other robots I think:  motion statements are put into a "motion stack" and are processed in parallel to program execution.  You must manage how the motion commands are processed.  I think Staubli's implementation of the ALTER command mimicks the old Adept Technologies V+ ALTER command and allows real-time modification of tool position.
I would probably attempt it like this:

1.  take your real time (position + orienation) data at each time interval and package it into a VAL3 data structure trsf[ ] = {X, Y, Z, RX, RY, RZ}
2.  send the trsf[ ] to CS8 via ethernet
3.  use a separate VAL3 task to accept trsf[ ] data
4.  use ALTER function in VAL3 (is an option I believe) for real time position modification
5.  apply trsf[ ] data to ALTER
6.  all must be synchronized, may also require filtering for smoothness

Be careful, though:  having robots next to humans is a very dangerous situation.  Many safeguards must be put into place for this to be acceptable.

Good luck.  Contact me if you need a consultant.

[snowingfish]

VAL3 works differently from all other robots I think:  motion statements are put into a "motion stack" and are processed in parallel to program execution.  You must manage how the motion commands are processed.  I think Staubli's implementation of the ALTER command mimicks the old Adept Technologies V+ ALTER command and allows real-time modification of tool position.
I would probably attempt it like this:

1.  take your real time (position + orienation) data at each time interval and package it into a VAL3 data structure trsf[ ] = {X, Y, Z, RX, RY, RZ}
2.  send the trsf[ ] to CS8 via ethernet
3.  use a separate VAL3 task to accept trsf[ ] data
4.  use ALTER function in VAL3 (is an option I believe) for real time position modification
5.  apply trsf[ ] data to ALTER
6.  all must be synchronized, may also require filtering for smoothness

Be careful, though:  having robots next to humans is a very dangerous situation.  Many safeguards must be put into place for this to be acceptable.

Good luck.  Contact me if you need a consultant.

Thanks very much. So do you mean that I should write a VAL3 application running in the controller first, the PC convert the real time (position + orienation) data from the sensors coordinate system to the robot's coordinate system then structure to trsf[ ] = {X, Y, Z, RX, RY, RZ}. And the VAL3 appliaction running in the controller can receive the trsf[] data, then the motion can be controlled?
So in this way, the PC just for processing the real time (position + orienation) data, and the VAL3 application is running independent in the CS8. Am I right?

Yes, safety is a big problem, my colleague will focus on the safety system.
Do you mind to give me your email address, your suggestion is great help! My email is famousyi@hotmail.com
Many thanks!

[schampneuf]

Hi,

Be carreful, ALTER comes with an compliant robot and is not for free...

[snowingfish]

Hi,

Be carreful, ALTER comes with an compliant robot and is not for free...

Thanks,
Actually, we have brought ALTER, but I don't know how to use it.....
The manuals provided buy the company are sucks.

[tejon.69]

Hi Snowingfish,

It depends exactly, what really you need no do, obviously, VAL3 es a powerful language, and one of the power, some times inconvenient, is the motion stack, but you can create a lot of paralel task, and on this case I recomend you to control the current of the motors to avoid damages of the part, in this case a person, this is a special ADDON called PROTECT and is relationed with the version of VAL3 you have on the controller, you can ask for free to Stäubli. Alter is an option but is expensive and you need to have more experience on it or know ALTER function in V+ for adept, is very similar. Other think you can do is a lot of little movementes, checking always the current sensor of the motors. If you reach the limit of the programed current you must program stopMove(), resetMotion(), and continuous with your main task, that is sending a new position, if your main program is like movel(appro(pIni,{x,y,z,rx,ry,rz}),tTool,mDesc), I normally use the following line wait(distance(here(tTool,fFrame),appro(pIni,{x,y,z,rx,ry,rz})<0.1 where on the mDesc I put mDesc.blend=joint mDesc.leave=0.05 and mDesc.reach=0.05 this is called a soft break. I don't know if that can help you. (Sorry for my english but is not my native language). I will try to post next week some information about ALTER for CS8C that I have at home, now on busynes travel.

[TygerDawg]

snow-
Based on your description I assumed you already had a PC-based system reading sensor data and constructing the position + orienation data.  If that is the case, then what do you do with it?  You send it to the robot.  So, of course you must write something in VAL3 to handle the data.

You don't say how the sensors are read.  Analog, serial, what?  Depending upon the signal and your speed reaction requirements, you may be able to bypass the PC entirely and send the data/signal to the robot directly.

If your sensor are analog then you may encounter time lag due to processing times.  It may, or may not, be important to your application.  Depends upon your motion requirements.

[snowingfish]

Thank you tejon and TygerDawg,

Sorry for didn't put the question clear.
I had a PC-based system sensor, and read it via a serial port, the PC ruuning under real time operating system QNX not Windows. Actually what I plan to do is send these position + orienation data by using the ALTER, and this is what I used to do with VALII on PUMA robot. In VALII, there is a "byte-stuffing" protocol,after constructing the position and orientation data according to this format, they can be sent to the robot via a serial port and real time control the robot motion.

But right now, I don't know how to do the same thing with VAL3, because it seems like very different with VALII. In VALII the communication established by sending one Alter instructions, after this the next step can bypass the VAL, and the PC have to send the position + orienation data to controller in a time interval.

[snowingfish]

Is there any simple sample code for alter VAL3??
I want do some test with it.

Many thanks in advance!

[TygerDawg]

Your best option is to contact Staubli directly.  They should be able to assist you with the specifics of your application with ALTER (since it is a purchased item, they are obligated to help) .

[tejon.69]

Hi snowingfish,

Sorry but I haven't enought time to found some sample, attached is a sample of a tracking application who uses alter function, see on motion application.
I agree with TygerDawg, you can contact Staubli and there are obligate to help you, but they are always busy, If you need to contact some body inside Staubli organitation send me a personal e-mail and I will readress you to the addient person on your nearest office, I was inside Staubli a lot of time and I have a lot of friends inside.

Waiting the sample can help you

Tejon

[snowingfish]

Hi snowingfish,

Sorry but I haven't enought time to found some sample, attached is a sample of a tracking application who uses alter function, see on motion application.
I agree with TygerDawg, you can contact Staubli and there are obligate to help you, but they are always busy, If you need to contact some body inside Staubli organitation send me a personal e-mail and I will readress you to the addient person on your nearest office, I was inside Staubli a lot of time and I have a lot of friends inside.

Waiting the sample can help you

Tejon

Hello Tejon,

Thank your very much for your support and help. I will study your example first and see what I can find.

Best regards,

[bruceboty]

Hi snowingfish,

Sorry but I haven't enought time to found some sample, attached is a sample of a tracking application who uses alter function, see on motion application.
I agree with TygerDawg, you can contact Staubli and there are obligate to help you, but they are always busy, If you need to contact some body inside Staubli organitation send me a personal e-mail and I will readress you to the addient person on your nearest office, I was inside Staubli a lot of time and I have a lot of friends inside.

Waiting the sample can help you

Tejon

Hello tejon and snow,

This could be a good example for using alter function.

And Snow, what is your location ? you can contact staubli for any technical support, if you are located in asia pacific , send me email.

[drago666]

Hello all,
I'm dealing with Staubli TX  60 , but I'm a beginer. So can somebody help me.
I need an example program for moving the robot's arm, just something easy to understand how to write programs.
I'll appriciate if someone send me a demo program for moving and etc.
My e-mail is drago666@abv.bg
I've got a VAL 3 Studio but don't know how to use it
Thanks in advance.

[TygerDawg]

drago
go to the Staubli robotics website
there you can register for their technical database
in tech database there are a number of good example programs (Cell Manager application, in particular), many more useful items

other than that, you need a training class if at all possible
then call Staubli Tech Support for one-on-one assistance...but you must learn to walk before you can run