moving to a goal position received from an external program

Hi all,

I am using Roboguide, and working with fanuc robots.

I have small experience building TP programs. I need some pointers in the following scenario.

Imagine that a program external to the robot and controller wants to send some target positions for the robot to move to. This position can be a Cartesian position (i.e., x, y, z), and in the world frame. I have some idea how to define position registers ( or points ) within the program where the arm can move to when the program is put to run.

Here is what are my thoughts,

I can use SNPX communication enabled, and I use some registers and DOs. Then, I can create a ModbusTcpClient and connect to the controller (virtual controller in this case inside the Roboguide). When, I need to send some target position ( 6-tuple, x, y, z, roll, pitch, yaw), I write 6 registers, and as well, turn ON a DO.

I write a background program, that is always running. And, whenever it sees the particular DO in ON, it will read those registers and assign these to a particular position register and call the TP program which is responsible to move the robotic arm to that position.

I am not certain if the above makes sense within fanuc, and within TP programs.

Secondly, the robotic arm can be at any arbitrary position. How do we make sure that from there, it can actually go to the position that we have specified. How does it actually, interpolate the remaining trajectory points, from the current position until the goal position (if it can actually make that movement).

Please, what is the better way to achieve the above task.

thanks,

Zahid

thanks HawkME,

so basically, there is a vision system, that records the position of the manipulation object

s (objects to be picked), and then sends the target position for the robotic arm to move to. After the robotic arm has moved to that position, gripper will hold the object, and later, the vision system will send another position where the object will be placed, and this position will also be sent via an external source. And the robotic arm has to move in response.

thank you hermann and HawkME for your inputs. I will now proceed with implementation and keep posted if something comes up.

Zahid

I have a related question that I hinted at in my first post.

At a given moment, robotic arm is at an arbitrary location. And, then we specify a target position for it to move to. How does it interpolate the trajectory between the start and the end. What safety concerns arise ? I worked a bit in ROS, where, firstly planning happens (finding a path from start to goal) that generates a trajectory and then the execution occurs.

So far, I have only made very simple TP programs, within Roboguide. I jogged the robot to different locations, recorded the points, and then visualize the movements along those points.

thanks for your time.

zahid