Vision Control System and RobotStudio

ale_001

Hi everybody,

Well I am new in the forum but i need your help, I must to do a Final Project for the university using RobotStudio. The objective is to do an a Simulation for a guided motion usion inverted control vision system and Robotstudio.

I am readin the PC SDK, to what can Helps, may be someone who has don Vision movement with a ABB robot.

Also my idea is that this thread can be helpful as a tutorial.

Klaus

Hi ale.

 

The vision projects that i have done, i have used a socket connection between the robot and the vision PC. That can also be done with a VC in RS.

 

I can give ypu the socket part of the robot. The socket part off the vision software in VS2008 C# i can not give you. It's belong to a former company that i worked for

ale_001

Hi Klaus

Thanx a lot for answer, Sorry if i am a little noob but what is a socket or what it do, and also what is VC.
If you can share the socket of the robot could be good, also explain a little bit what it do.
I will continuously will share what i do here.

John Wiberg

VC = Virtual Controller
This is the virtual copy of the real controller that you are using in RobotStudio.

Socket = Socket Messaging
It has been a optional function since RobotWare 5.06.
[quote]The purpose of Socket Messaging is to allow a RAPID program to exchange TCP/IP
messages over a network, with a C/C++ program on another computer or a RAPID
program on another robot controller.
Socket Messaging sends and receives messages over the permanent Ethernet channel
of the IRC5 (which can simultaneously be used for other network traffic, e.g. communication
with RobotStudio-Online or WebWare Server).
Socket Messaging is a standard supported by e.g.UNIX and Microsoft Windows.[/quote]

You can find code examples etc in the "Application manual - Robot communication and I/O control" chapter 8 "Socket Messaging".

Also see section 1.160. in "Technical reference manual - RAPID Instructions, Functions and Data types" for the declarations.

Please note that you need a RobotWare option in your Robot System to enable Socket Messaging. (If you don't know what RobotWare options are you should talk to your teacher and look up the System Builder in RobotStudio).
It used to be "672-1 Socket Messaging" but from RobotWare 5.11 its included in the "616-1 PC Interface" option.

Klaus

thanks for aswering John.

 

Missed this tropic

John Wiberg

[QUOTE=Klaus] thanks for aswering John.

 

Missed this tropic

[/QUOTE] Don't sell yourself short Klaus.  I can sort out the details but I've never done vision outside of PickMaster so I wouldn't know where to start. So its great that you can point out possible directions.

ale_001

Thanx a lot for answering John, great comment.
I am reading the PC SDK manual i am in chapter 4.
I was talking with my teacher and he said use sockets is a good idea, with all i read around. i was planing this.

First elaborate the vision control technique, this monday 27 i will have a meeting with another teacher who will explain me the indirect visial control method. Is very probable tha i elaborate this control technique in C# or C++.

Second I'll do a program with C# in VS2010 to the communications with the VC, in this part i'll be helped by a tutorial an the Application manual. where this program will just a link in the communications.

THird do a work in RS with the little robot, is probable o i'll do some coveyour with a box or anything.

Anyway John, about pickmaster looks an  awesome application and i think what i want to do is something similar. But this application probably communicates with RS. Don't you have any example of a project or something you have done to share in a video.

The Monday i will explain the inverted vision technique.

John Wiberg

Regarding the conveyor + box thingie read up on Smart Components in RobotStudio and check out these downloads from the community:

http://abbcontentsharing.skapawebsql.tripnet.se/Details.aspx?fileId=166
http://abbcontentsharing.skapawebsql.tripnet.se/Details.aspx?fileId=165
They give both movement + source.

ale_001

Thanx a lot John, I make my own conveyour + box with smart components and I have it as a component may be i can share it to. I dont know if what i have is the same because i am based on the tutorials. also i have some tools that i can share. I made a rotable table but dont rotates good. If wan i share what i have tell me where. uploading to abb or with rapidshare.

ale_001

Hi Jhon and Klaus,

I done the same program for scan controllers, like in the tutorial.
How to program a small application that communicates with the IRC5 robot controller


I can get communicate without problem and can find the VC.

Now talking with my teacher and investigating about the visual servoing, and the equation i will use its this:


and this equation will give me a Cartesian velocity at the end of the robot with rotation and translation. So i want to know if i can send this values to Robotstudio. or its necessary send to RS:  X, Y, Z ;  RX, RY, RZ. so it can move.


Another question i have, in RS i wil draw a patter for use in the equation so can analice the movement, but how can simulate the pattern drawn as an image. I know RS have an Smart Component of vision i am not sure.



ale_0012011-07-01 19:35:31

doc-zee

hi,i am a student the learn to how to control the abb robot by the PC SDK.I don`t have any  program experience,so can you give me some example that i can learn to how to let the abb robot move,sanks a lot ! zx5721@126.com is my e-mail

CogEric

I am not sure what vision system you are working with, but there is a lot of documentation on the Cognex website: http://www.cognex.com/support/downloads/File.aspx?d=2026

doc-zee

thank you very much!!!

doc-zee

Hi??OKlaus!

can u give me the socket part of the robot,if convenient ,part of vision is cool! hi,i am a student that learn to how to control the abb robot by the PC SDK.I don`t have any  program experience,so can you give me some example that i can learn to how to connect the vision  to the robot,sanks a lot ! zx5721@126.com is my e-mail

doc-zee

Hi,Klaus!now i want to use socketmessage domain to receive the 3 data one time from pc.but i don`t know how to receive.for example:the server send 1.34341,2.4355,6.3434.and the client receive it.i don`t know the client how to seperate the 3 num and put them into num1 ,num2,num3.i need your help.