ABB Robot for continuous path welding

Somasundar

Dear Sir,
I am new to Robotics controller programming. So please help me.

I modeled ABB Robot in Matlab and wrote a program to do Inverse kinmatics and find Joint angles for circular motion of its end effector. I saved this Joint angles in .CSV file for 200 steps.
How can i input this file to a Robot controller to achieve the motion by on floor Robot?

Kindly suggest some solution

regards,
Soma Sundar A

Johannes Weiman

Hi,
You can use joint targets and MoveAbsJ to define motion by joint angles. This is how it would look like in RAPID:

MODULE Module1<br>&nbsp;CONST jointtarget JointTarget_1:=[[<b>0,0,0,0,0,0</b>],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];<br>&nbsp;CONST jointtarget JointTarget_2:=[[<b>10,0,0,0,0,0</b>],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];<br>&nbsp;CONST jointtarget JointTarget_3:=[[<b>20,0,0,0,0,0</b>],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];<br>&nbsp;&nbsp;&nbsp; PROC Path_10()<br>&nbsp;&nbsp;&nbsp;&nbsp; MoveAbsJ JointTarget_1,v100,z10,tool0\WObj:=wobj0;<br>&nbsp;&nbsp;&nbsp;&nbsp; MoveAbsJ JointTarget_2,v100,z10,tool0\WObj:=wobj0;<br>&nbsp;&nbsp;&nbsp;&nbsp; MoveAbsJ JointTarget_3,v100,z10,tool0\WObj:=wobj0;<br>&nbsp;ENDPROC<br>ENDMODULE

Somasundar

Thank you sir for the reply. I will work this out and update the progress