Sending a cartesian pose to fanuc robot through socket messaging

  • Hi all,

    My objective is to be able to make a fanuc robot move to a certain cartesian pose (x,y,z,q1,q2,q3,q4) by sending these coordinates from my PC to the robot. I am currently doing all testing in roboguide.

    My idea of how to proceed is the following:

    I have a KAREL client running on roboguide, and a c++/python server running on my localhost.

    My questions are:

    1. What is the best way to send the coordinates from my server to the client running in roboguide using sockets?
    2. Once I've received the coordinates on the KAREL client, what are the KAREL commands to make the robot move to that position?
    3. Lastly, is there a better way to do all of this?

    Appreciate your help :help:

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  • Thank you for your reply.

    I have one additional question:

    In this scenario where I would be streaming position coordinates to the robot through socket messaging, would the robot be the client or the server?

  • You show q1 through q4 in your post.

    Fanuc robots don't quaternions. Instead you will use Euler Angles w ,p, and r.

    Also there is the config string "NUT000".

    If you don't want to mess with those you could create base points with the desired orientation and config, then just stream x,y,z.

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