Hello everyone,
So I am a PhD student in biomedical engineering who ended up having to work with a Yaskawa robot.
The model is a Mh5 and the controller NXC100.
Due to the specifications of the work, I need to develop a user interface to handle the robot. Problem is I have little experience with robots. Upon contacting the company which provides the robot, we were told that the Motoplus (I believe to be a vc++ interface) is paid. Actually, the company advised me to try a work around and actuate the robot via Ethernet control function.
I did my best implementing an API to convert my commands to the protocol defined in the ethernet control function.
Bottom line is, I have some questions and I saw fit to ask them here:
1) Is it possible to keep robot waiting for instructions, I mean control the robot in an open loop:
Receive command -> execute action -> wait command,
or do I need to have the functions defined in a job which is later run?
2) What are external axis? Everywhere I look, I see this term used as common knowledge, but I cannot seem to find an explanation about the meaning.
3) Same goes for the way you assigned user-frames. ORG XX XY, is the used convention, but what is the actual meaning of this? I usually work with homogeneous transformations / quaternions ... I figured out, ORG XX XY are points (ORG is actually the origin of the frame) but which points? how to convert from a standard homogeneous transformation to these 3 points?
4) How do I convert Pulse units to/from degrees? Comparing joint limit values in Pulses and degrees?
5) One of my project requirements, includes controlling the robot via force input. Like actually pushing the robot arm around to move it to different postures. Servo float seemed to be the closest function to this behaviour. But given the robot is to interact with humans, after reading some of the posts about servo float function in this forum, I am a bit uneasy. In your experience, what is the best approach?
Sorry for this long post, hope your experience can help me somehow.
Thanks in advance!