I know that discourse.mcneel is not quite the right place for this question but since here are a lot of nice people ( who also know their stuff ) please allow a slightly ot question. It’s worth a shot, even if no one has an answer.
I want to control a 7 dof robot arm with rhino/gh. More information about the robot can be found here: franka emika;
There is a 1khz control loop setting the goal state for each consecutive step. examples
I am not an experienced (c++) developer so I would like to outline my current plan before I get to the xyproblem state:
I the next weeks and months I will try to implement this so any comment,advice or support is very much welcomed; Right now I have a working example with ros and moveit, if you want to have look in person: I am in berlin, you can contact me and just come by the lab to say hello
the setup is as follows:
one robotarm (panda robot) contected to a rt ubuntu based pc (robotPC)
one windows pc running rhino and grasshopper (rhinoPC)
1 .set up a trajectory with a nurbscurve in grasshopper(rhinopc)
2. use grasshopper with udp sender to talk to a receiver at robotPC
3. send the controlpoints to the robotPC via udp
4. reconstruct the nurbscurve using openNurbs on the robotPC(ubuntu)
5. evaluate the curve at a rate of 1khz to get a valid goal for each timestep ~ very tricky see annotation*
6.when reaching the end of the curve, requesting new curve from gh
7. repeat 3-7
annotation*: there are certain parameters that have to be met: link, I am not quite sure how to ensure this
btw: here is a video of the current setup(only simulation but it works with the real deal aswell) with ros, moveit and grashopper: https://vimeo.com/328602550
sadly moveit doesn’t generate very smooth motion, at least I don’t know how
Hi, I want to ask that can u share the gh file of this program? recently i want to control my franka emika research 3 at grsshopper, but i don’t know where should i start first, can you give me some advice?
thank you.
Hi Konrad,
how did you end up controlling the panda? Did you go via ROS, or plain libfranka?
Did evaluating the nurbscurve work well?
I am working on something similar atm, where I generate toolpaths for a panda in gh. I am using ros, but my process requires some intermediate processing steps of the path.
Would be interesting to hear your experiences
Daniel
I am trying to figure out how to use the Franka Emika robot with grasshopper too. I was wondering if you have some tips or some documentation that you could share. That would be much appreciated! By the way love you work with ceramics!
) please allow a slightly ot question. It’s worth a shot, even if no one has an answer.