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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 ======
  • yumi.1522946315.txt.gz
  • Last modified: 2019/04/25 14:08
  • (external edit)