Ways to send continuous cartesian instructions or to get the position update without blocking?

kazoo

Yumi doesn’t have a functionality to use Pose mode on EGM, but only Joint mode. Are there any ways to control Yumi’s arm in cartesian position without blocking during the command? When I say ‘blocking’, it means the operation of the application stop until the robot gets to the destination, as we could observe MoveL function on other robots. If Yumi has a special instruction that I can get the streaming data of the current position during its movement, that would be great. I haven’t look through all the documentation about Yumi, but found there are some instructions specific for Yumi. Please let me know if you know anything.

rzhao

Hi, Kazoo, there is an open abb software that allows remote clients to send requests for actions.
https://github.com/robotics/open_abb
Hope it would help.

Best regards,
Ran

kazoo

Hi rzhao, thank you for your comment. I used open_abb for the IRB robot and had some issue regarding blocking mentioned above. When you used open_abb for YuMi, did it work smoothly and didn't have a blocking issue?

kazoo

I tried open_abb for YuMi, but the result was as expected. It didn't move smoothly because MoveL instruction couldn't handle the consecutive short movement well...

rzhao

kazoo said:

Hi rzhao, thank you for your comment. I used open_abb for the IRB robot and had some issue regarding blocking mentioned above. When you used open_abb for YuMi, did it work smoothly and didn't have a blocking issue?

Hi Kazoo, unfortunately, I also had this blocking issue unless I sent very small steps. I guess there is a latency between the robot executes MoveL and the robot really moves.

Best regards,
Ran