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yumi [2018/04/05 16:38] nduminy [Easy Use] |
yumi [2019/05/13 13:43] (current) nduminy |
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+ | ====== Yumi experiment with the tactile table ====== | ||
+ | |||
+ | |||
+ | Tests: | ||
+ | |||
+ | <hidden> | ||
+ | |||
+ | [[marytts#[The python API]]] | ||
+ | |||
+ | {{section>marytts#[The python API]}} | ||
+ | |||
+ | {{count>+}} | ||
+ | |||
+ | {{searchtags}} | ||
+ | |||
+ | {{topic>software}} | ||
+ | |||
+ | </hidden> | ||
+ | |||
====== Introduction ====== | ====== Introduction ====== | ||
+ | {{tag> hardware robot software }} | ||
Whatever ABB station is used, real or virtual, this tutorial shall show you how to control it using our controller framework. | Whatever ABB station is used, real or virtual, this tutorial shall show you how to control it using our controller framework. | ||
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Two folders: | Two folders: | ||
- | - RAPID: contains the RAPID modules which runs on the robot | + | * RAPID: contains the RAPID modules which runs on the robot |
- | - PC_SDK: contains C# VisualStudio projects enabling to control the robot | + | * PC_SDK: contains C# VisualStudio projects enabling to control the robot |
===== RAPID folder ===== | ===== RAPID folder ===== | ||
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If you need to move the robot's joints manually, you must power down the motors beforehand, and disable the mechanical brakes by pushing continuously the black buttons under the robot torso. | If you need to move the robot's joints manually, you must power down the motors beforehand, and disable the mechanical brakes by pushing continuously the black buttons under the robot torso. | ||
+ | |||
+ | ====== Installation ====== | ||
+ | |||
+ | First, we need a windows computer (at least Windows 7). | ||
+ | |||
+ | We need to install Visual Studio 2015+ (the community edition is free and works fine) | ||
+ | |||
+ | Then we need to install Robotstudio 6.05 (not tested for other versions) | ||
+ | |||
+ | Then we can install Robotstudio SDK and PC SDK | ||
+ | |||
+ | Then we must adapt the custom Robotstudio Add-In to the new computer, and copy it among other Add-Ins. | ||
+ | The file is yumi_control/PC_SDK/RobotStudioEmptyAddin1/RobotStudioAddin1/RobotStudioAddin1.rsaddin. | ||
+ | We must change the two paths in the <Assembly> section, and make it point yumi_control/PC_SDK/RobotStudioEmptyAddin1/RobotStudioAddin1/bin/Debug and yumi_control/PC_SDK/RobotStudioEmptyAddin1/RobotStudioAddin1/bin/Release (absolute paths). | ||
+ | Then the file shall be copied into Robotstudio Add-Ins folder (usually in Program Files (x86)/ABB IndustrialIT/RoboticsIT/RobotStudio 6.05/Bin/Addins. | ||
+ | |||
+ | At any time, we can install python 2.7 (let it be configured in environment variables for access using command line) | ||
+ | |||
+ | Install required library python-zeromq, matplotlib, numpy, scipy | ||
+ | Can be installed through pip: | ||
+ | |||
+ | <hidden> | ||
+ | pip install numpy scipy matplotlib python-zmq | ||
+ | </hidden> | ||
====== API and packages used ====== | ====== API and packages used ====== |