yes but you need to do some development and know the platform. fortunately with Java one can easily do anything you like with files or TCP sockets.
you would need to write program on KMP1500 to move to some arbitrary location. for test values cane be hardcoded. once this works, replace the target values with data comming from some other place. where the data comes from is up to you. since this is mobile unit, it is not practical to have an umbilical like smartPad and get the value from Process Data but it may be good milestone to start with. Reading file is also dead easy. getting data through TCP/IP is normally straight forward but in case of KMP it is complicated due system architecture and likely need to adapt WLAN configuration
package applications;
import javax.inject.Inject;
import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import com.kuka.roboticsAPI.deviceModel.kmp.KmpOmniMove;
import com.kuka.roboticsAPI.deviceModel.kmp.SunriseOmniMoveMobilePlatform;
import com.kuka.roboticsAPI.motionModel.kmp.MobilePlatformMotions;
import com.kuka.roboticsAPI.motionModel.kmp.MobilePlatformRelativeMotion;
public class rel_Move extends RoboticsAPIApplication {
@Inject private SunriseOmniMoveMobilePlatform kmp;
@Inject private KmpOmniMove kmp2;
@Override public void run() {
// Sunrise motions are always in mm
double dx = 50; // 50 mm or 0.05 m
double dy = 50; // 50 mm or 0.05 m
double dTheta = Math.toRadians(10); // 10 degree in radians
kmp.move(MobilePlatformMotions.relativeMotion(dx, dy, dTheta));
MobilePlatformRelativeMotion motion = new MobilePlatformRelativeMotion(-dx, -dy, -dTheta);
kmp.move(motion);
}
}"its up to you"
this simply means that you have options and need to decide what option you want to use.
information can be in many forms and you are not limited to use specific one. you just need to extract the information from suitable source and get it into format that KMP can use:
if the information is contained in the sound such as audible commands, you need to capture audio using microphone then decode the info.
if the information is contained in a form of image, you need vision system with camera or equivalent capturing the target and then decoding the contained info.
if the information is contained in a form of contact force, you need force transducer to feel the force and covert the readings into suitable format.
accessing and parsing information need to match the form and you did not decide what form you want to use.
reading data from some text file stored on the KMP hdd is not the same as transfering data through some network like Ethernet.
but regardless of option used - once you get the data in a suitable form, you can use it, it does not matter how or where it came from.
"is it possible for us to read a txt/java file that is generated from an external software?"
i don't get it, this makes no sense to me...
as long as you have the file, it is yours... you can read it. it does not matter if it was typed in manually and then saved, or generated by some program. it does not matter if file was created locally (on the KMP) or externally (on your laptop) and then transferred to place of use.... why would it even matter how, when, where or by what, the file was generated?
"Can you give me an example for the connection between KMP - External Software/ Commands?"
it seems to me that you are not familiar with Barometer story. many versions exist such as:
Some time ago, I received a call from a colleague who asked if I would be the referee on the grading of an examination question. It seemed that he was about to give a student a zero for his answer to a physics question, while the student claimed he should receive a perfect score and would do so if the system were not set up against the student. The instructor and the student agreed to submit this to an impartial arbiter, and I was selected.
The Barometer Problem
I went to my colleague's office and read the examination question, which was, "Show how it is possible to determine the height of a tall building with the aid of a barometer."
The student's answer was, "Take the barometer to the top of the building, attach a long rope to it, lower the barometer to the street, and then bring it up, measuring the length of the rope. The length of the rope is the height of the building."
Now, this is a very interesting answer, but should the student get credit for it? I pointed out that the student really had a strong case for full credit, since he had answered the question completely and correctly. On the other hand, if full credit were given, it could well contribute to a high grade for the student in his physics course. A high grade is supposed to certify that the student knows some physics, but the answer to the question did not confirm this. With this in mind, I suggested that the student have another try at answering the question. I was not surprised that my colleague agreed to this, but I was surprised that the student did.
Acting in terms of the agreement, I gave the student six minutes to answer the question, with the warning that the answer should show some knowledge of physics. At the end of five minutes, he had not written anything. I asked if he wished to give up, since I had another class to take care of, but he said no, he was not giving up. He had many answers to this problem; he was just thinking of the best one. I excused myself for interrupting him, and asked him to please go on. In the next minute, he dashed off his answer, which was:
"Take the barometer to the top of the building and lean over the edge of the roof. Drop the barometer, timing its fall with a stopwatch. Then, using the formula S= 1/2 at^2, calculate the height of the building."
At this point, I asked my colleague if he would give up. He conceded and I gave the student almost full credit. In leaving my colleague's office, I recalled that the student had said he had other answers to the problem, so I asked him what they were.
"Oh, yes," said the student. "There are many ways of getting the height of a tall building with the aid of a barometer. For example, you could take the barometer out on a sunny day and measure the height of the barometer, the length of its shadow, and the length of the shadow of the building, and by the use of simple proportion, determine the height of the building."
"Fine," I said. "And the others?"
"Yes," said the student. "There is a very basic measurement method that you will like. In this method, you take the barometer and begin to walk up the stairs. As you climb the stairs, you mark off the length of the barometer along the wall. You then count the number of marks, and this will give you the height of the building in barometer units. A very direct method.
"Of course, if you want a more sophisticated method, you can tie the barometer to the end of a string, swing it as a pendulum, and determine the value of 'g' at the street level and at the top of the building. From the difference between the two values of 'g', the height of the building can, in principle, be calculated."
Finally, he concluded, "If you don't limit me to physics solutions to this problem, there are many other answers, such as taking the barometer to the basement and knocking on the superintendent's door. When the superintendent answers, you speak to him as follows: 'Dear Mr. Superintendent, here I have a very fine barometer. If you will tell me the height of this building, I will give you this barometer.'"
At this point, I asked the student if he really didn't know the answer to the problem.
He admitted that he did, but that he was so fed up with college instructors trying to teach him how to think and to use critical thinking, instead of showing him the structure of the subject matter, that he decided to take off on what he regarded mostly as a sham.
Example1: Connect smartPad to KMP and control KMP using robotic arm with stylus. control robot by your software
Example2: Build own device that simulates smartPad connection to KMP, then use it to send commands. If successfull, KMP will not be able to tell the difference.
Example3: Use yellow radio controller (JBox) to control KMP and use suitable actuators to control it, using your software.
Example4: Build your own device that simulated JBox....
Example5: Open KMP and install USB Extension cable so USB port is exposed. Use software on your computer to save file on a usb stick. Use drone to get that USB stick from your computer, fly to KMP, dock to explosed USB port and connect it....
Example6: Use couple of galvos to shine laser dots onto the floor next to KMP. Have vision system on KMP to follow the dots
Example7: Use existing KMP architecture to transmit commands using TCP/IP from your laptop/phone
Example8: Write eposode of Pinky and The Brain controlling KMP, send to Spielberg, wait until episode airs, meanwhile add TV antenna, receiver etc onto KMP...
As Panic Mode says in the last post. You probably have to explain your vision a bit more in detail here because it doesn't make sense to send .txt or .java files.
A much more efficient way would be to either send the information in the text-file as a propriate type bool ,string, vector whatever suits your needs or to make the KMP read the information from an external database instead.
In the case of sending .java files it seems like you are most likely on the wrong track here. I guess you should instead focus on writing more generic code that can adapt to the changes you want to to instead of sending new program files to the KMP. What type of changes do you need that would require new programs to be sent?
not really...it may be me, but i find that posts are - disconnected.
what you just described as an idea is acually an overview of a paricular manufacturing process. this is important of course but ... this has nothing to do with original problem which is extracting location coordinates from some remote system and using it to position KMP. it helps to maintain focus on a real.
i guess you are just getting started with all this so prioritizing and communication are not developed yet. let me try to illustrate by an example:
idea mentioned in your last post could be realized without any communication with KMP. in fact given constraints mentioned in your last post, KMP may not even have to be have drives on - because what you described could be accomplished by using KMP brake release and some guy pushing KMP around the shop. or moving KMP using forklift. don't even need KMP, one could just use pallet instead of KMP and every bit of process could still work as you described.
but if you want KMP to read files or exhange information with some remote system, it would need to be switched on and communicating ... somehow.
this pesky little detail is still completely missing and if my understanding is correct, this detail IS the challenge you need help with which is why you are in this forum.
this example is just a gross exageration but it it is meant to illustrate how to zoom onto key issue and stay on topic.
this helps when discussing techical matter.
general ideas and concepts do not require much of a technical insight and therefore do not focus on details. this is why sich things can be discussed in different settings (in a coffee shop, at the dinner table or at the bus stop) or with managers, company owners, friends and family. they will easily grasp the idea like "robot picks something from A and puts it in B" and be able to participate.
but grandma and some random stranger at the bus stop are not likley to be interested at all to dive into discussions involving technical details like fieldbus, I/O, programming java, configuring WLAN etc. tech forums like this one are suited for such discussions.
i can go discuss either side of the spectrum but i am not seeing you leaning towards specific solution. maybe you can help a bit more?
so here are few questions:
1. do you have any Java programming experience? how about SunriseOS related training?
2. have you done any KMP related training?
3. why not stick with Graph for your application? it is the simplest and most common way to make things work. you don't want to spend time developing unicorn...
4. using built in motion planner features give you convenince, repeatability, corrections due laser data etc. this is a lot of valuable resources that you may be giving up. are you sure you are up to it?
then you are in a really tight spot as your hands are tied.
i strongly suggest to get some Java training asap (formal or self taught) or hire somone that already knows it.
graph will allow you to define locations, actions etc.
you still need to share messages between KMP and rest of the system... and there are different ways to go about it.
doing TCP/IP comms is elegant but if you don't know KMP architecture, networking, etc. you will be stuck... unless you get KUKA help.
another way is to add own hardware (some I/Os and own radio for example). this way you could bypass WLAN etc. all together.
