Hello,
I'm working with a Staubli TX60, a CS8C controller and the Staubli Robotics Studio 2013.4.5 software. I am developing my final degree project. The project consist of moving TX60 with a joystick (Logitech 3D Extreme Pro) to simulate a surgeon robot (it's only an approximation). I've manage to move the robot with the joystick, however the movement isn't continuous. The communication channel is a socket in a local network. I read joystick inputs, process data and send by socket to CS8 controller. The controller process data and send movement commands to TX60. The data processing consist in read joystick range in axis and scale this number for increase/decrease movement in robot joint (work in joint mode). The data is converted to string by delimiters and sent to CS8, which after will process string and execute movej command. Furthermore I have a force/torque Schunk FTCL 50-80 sensor for read pressure data and not kill someone during the operation!
I would like to know if some of you have tried this and have a better way to do it or have some suggestions.
I'm waiting for the university to give permission to use the Stäubli velocity/direction add-on controller.
Thank you very much for all suggestions
Best regards
Thyplock