Thank you very much for your responses. I will check both techniques.
For those interested, I searched a bit about ROS Industrial and found a way to setup the FANUC Controller to use ROS Industrial on it. You can check it here.
Thank you very much for your responses. I will check both techniques.
For those interested, I searched a bit about ROS Industrial and found a way to setup the FANUC Controller to use ROS Industrial on it. You can check it here.
Hello,
I made a program to generate trajectories for the LR Mate 200iC. I made my own simulation to run it and it works pretty well, and I can have a visualization of the 3D robot in real time too.
During the simulation, a path in Cartesian coordinates is feeding the simulator and the output are the joint coordinates of the robot. The 3D visualization take this output to animate the robot.
I would like to do the same thing but with the real robot; I would like to stream joint coordinates to the FANUC LR Mate 200iC so that it could play in real time the computed trajectory.
Do you know how this could be achievable?
If no, is there any other solution to do similar thing?
Another question that is somewhat related: is it possible to control the robot by sending torque commands? A robot controller can be implemented as a feedback controller that controls the torque of each joint according to its current joint position and velocity; would it be possible to monitor the FANUC LR Mate 200iC joint positions and velocities, and use a custom controller to send torque command to control the robot?
Thank you very much for your help,
Alexandre Willame