I'm trying to implement a closed loop controller that can perform live corrections. I want to improve the accuracy of the robot by using an external measurement system (laser tracker at the moment).
Unfortunately I'm not sure what packages/software I need on the Fanuc or its controller (R-30iB).
My ideal solution would look like this:
1. I send cartesian point to the robot
2. It moves there
3. As it moves, I can adjust my desired position and the robot will move there
I looked into the dynamic path modifier package but I'm not sure if I can build a controller with it, as I want to use the measurement data of the laser tracker and it doesn't look like the DPM package can communicate with external tools.
Has anyone done something similar? I'm lost as soon as I look at all the packages from Fanuc.