Can we develop a 6-R robot control system based on the LinuxCNC ?

Can we develop a 6-R robot control system based on the LinuxCNC ?
And also I need a FlexPendant as ABB robot or KUKA robot etc.
How to implement the command (such as MOVL, MOVC.....) parsing?
Thank you

You can, just hire 10 developers for a year or two.

If you search the forum people have been working on it for quite some time. Industrial robots are just quite a bit more complex than cnc machines so it takes time.

If you're good with c++ or python, feel free to help out.

Wow, it's your first topic, hitman, and you go so deep, in 6-axis robots.
It's really very hard to tell you, if you can develop such robot. I think you should know it better then somebody else on this forum;)

Why, develop it?

Have you looked in the Sim configs? There are examples for Scara and also robots.
And grotius is doing a great job designing actual a modern GUI for ROS

Norbert

newbynobi wrote: Why, develop it?

Have you looked in the Sim configs? There are examples for Scara and also robots.
And grotius is doing a great job designing actual a modern GUI for ROS

Norbert

None of the configs properly work with 6 axis robot.

And grotius doesnt use ros. It's for linuxcnc and his own kinematics code.

Actually, we have some 6-R controller source c++ code, but with lots of bugs.
Not developed by our team.
Painful to repair and improve it.

It's for linuxcnc and his own kinematics code.

As far as I know, his application uses the KDL kinematics library. That is also used in ROS.

Hi,

Yes kdl.

Actually, we have some 6-R controller source c++ code, but with lots of bugs.
Aii. This sounds painfull.

Not developed by our team.
Wich team is your team, from point off interest?

Painful to repair and improve it
Clean coding is a skill that takes time. I think the previous team manager failed.
But coding at this math level is not an easy task at all. Solving bug's can take more time then write code
parts from scratch again.

Can we develop a 6-R robot control system based on the LinuxCNC ?
There are some around already. A few year's ago a professor made a script about linuxcnc with robot controller, it's still on the net.
And there are some other examples.

If you have the math level to do the inverse interpolation yourself in c code, it's quite easy to implement it in hal.
The advantage of kdl is that you can build up a structure from joint's or whetever what. I see no direct limit's to kdl.
But kdl is in c++ and c++ is not realtime. So you need a workaround.

But it is possible.

How to implement the command (such as MOVL, MOVC.....) parsing?
Trough hal you can sent command's like that to whatever part of lcnc. But you have to code the movl, movc parser yourself in c++.
I think you can keep the existing syntax. And write a simple translator for it. This should not be the problem.

Thank you so much! I really appreciate your answer

thank you