lecture_05

COMPAS II: Robot control with COMPAS RRC

Online non-real time control of industrial robots.

Components of an RRC deployment.

Communication primitives (blocking, futures, cyclic).

Instructions.

Multi controller & location coordination.

👉 Slides 🤖 GoFa station PackNGo file 📜 Quiz assignment

Examples

Before running this examples, you have to connect to a robot controller. Either a real one, or a simulated one.

To run a simulated one, use the following instructions (only Windows, unfortunately):

1. Install ABB RobotStudio (see more installation notes here)
2. Install ABB GoFa robot station (Pack&Go .rspag files are installed simply by opening them from RobotStudio).
3. Start (compose up) our docker containers

• Communication

  • Hello World
  • Send instruction
  • Send instruction with feedback (blocking)
  • Send instruction with deferred feedback (non-blocking)

• Basic setup

  • Set tool
  • Set work object
  • Set acceleration
  • Set max speed

• Motion instructions

  • Get/Move to frame
  • Get/Move to joints (Configuration)
  • Get/Move to Robtarget
  • Move to home configuration

• Utilities

  • No-op/ping
  • Print Text on flex pendant
  • Wait time
  • Stop/Pause program
  • Stopwatch on the robot
  • Custom instruction

• Input/Output signals

  • Read analog input
  • Read digital input
  • Read group input
  • Set analog output
  • Set digital output
  • Set group output