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orjanmehre / EGM-Slider

Simulates a sensor for use with EGM on ABB robot
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some questions about EGM path correction #1

Open franktly opened 5 years ago

franktly commented 5 years ago

hi, orjanmehre, i am robot newbie, thanks for your EGM path guide code demo, i have learn a lot from this demo, i have some doubt about EGM path correction, i am very grateful if you could give me a clue about these questions: as far as i know, EGM path correction support absolute correction , i have no idea that whether EGM supports relative correction or not and whether we could adjust the movement speed in the correction direction, from the official tech docs, i only found three system configuration parameters related to EGM which are EGM Ramp Time ,Proportional Position Gain and Low Pass Filter Bandwidth, but when i try to adjust these parameters , it does not seem to work, could you please give me a clue about these questions , thank you very much.

orjanmehre commented 5 years ago

Hi,

It has been some years since I wrote the code and I have not worked with ABB or EGM since. The problems you are describing sounds familiar and I think I ran into the same problems, but I'm not sure what the solution was..

Sorry for not beeing much of a help

franktly commented 5 years ago

Hi,

It has been some years since I wrote the code and I have not worked with ABB or EGM since. The problems you are describing sounds familiar and I think I ran into the same problems, but I'm not sure what the solution was..

Sorry for not beeing much of a help okay, thank you any way

smy-10 commented 5 years ago

Hi I can't find more information. I hope to get your help. Thank you .please How to control posture or orienation? I learn it according to your c# code and robotstudio code,

code: EgmQuaternion.Builder pq = new EgmQuaternion.Builder(); EgmCartesian.Builder pc = new EgmCartesian.Builder(); pc.SetX(_x); pc.SetY(_y); pc.SetZ(_z);

        pq.SetU0(w);
        pq.SetU1(x);
        pq.SetU2(y);
        pq.SetU3(z);

        pos.SetPos(pc);
        pos.SetOrient(pq);

        // bind pos object to planned
        planned.SetCartesian(pos);

        // bind planned to sensor object 
        sensor.SetPlanned(planned);

        return;

why can control x,y,z, but Quaternions do not control attitude?

I can't find more information. I hope to get your help. Thank you .please