rzhao
June 29, 2016, 4:03pm
24
orjanmehre:
The module is quite new so there is not a lot of information out on the web. I’m writing a master’s thesis about EGM and my primary source of information has been the "
Application manual - Controller software IRC5", document ID: 3HAC050798-001.
All the instructions and functions you need in RAPID are listed in “Technical reference manual RAPID Instructions, Functions and Data types” .
Last semester I did a project on EGM where I created two programs which you are welcome to use as an example, they are both available on Github. See the links at the bottom.
Both programs where implemented on an Irb 140 robotic arm, and the code is written in C# and RAPID.
In the first program I’ve made a slider to adjust the height (z-cord) of the robot while it moves in a square (xy- plane) .
In the second program a Kinect sensor is used to control the movements of the robot in a 2D - plane.
The source code in both projects are a mess (we had limited time on the project so I did not have time to clean it up), but they will give you a good idea of what’s needed to create an application using EGM.
GitHub - orjanmehre/EGM-Slider: Simulates a sensor for use with EGM on ABB robot
GitHub - orjanmehre/ExternallyGuidedMotion-Kinect: Uses Kinect and EGM to control a ABB robotic arm
Hi, I have a question about EGM. Is it possible to simulate EGM in RobotStudio? For example, to move a robot using mouse through the virtual controller.