Thanks a lot for the links ... so your robot is mobile robot ... actually I
work on 4 scara that make pik&place working over a running belt .. I use master
Lcnc for control robot and opencv3 for targhet ... so qt interface manage the
data and send to scara. Pik&place working it have max velocity at 110mt/min, so
opencv work on i7 + opencl ... actually data on Lcnc is receive from user comp
fast rtu modbus but these is limited way to do these things ... so realtime
ethernet may be an alternative. I use ultrasonc sensor too as no-impact system
.... but an alghorith is a better solution ... need cartesian position of 4
robot (realtime) and resend permitted / not-permitted position .... on
kinematis is quite simply stop the mouvement without break the buffered
planning of motion .... not shure realtime ethernet is fast enought for make
these type of work .... (bring 4 vector3d data 100-500usec + 100-500usec for
computing + 100-500usec for send data ..... may be the transmission worck x10
too slow).
Alghoritm is on progress ....
About your great work, I think I study these things ... very nice.
regards
giorgio
Da: Chris Albertson <albertson.ch...@gmail.com>
Inviato: venerdì 19 maggio 2017 23.17
A: Enhanced Machine Controller (EMC)
Oggetto: Re: [Emc-users] Best cam linux/open for additive manufactory
On Fri, May 19, 2017 at 4:01 AM, giorgio foga <giorgiof...@hotmail.it>
wrote:
>
> I'm using Linux and one other open source Real Time OS ("mbed" a layer over
> Keil RTX) in a line of robots. Using my machine tools to build parts for
> same.
>
>
>
> So you use these kernel for control a multiple robot .... but the single
> robot use is own controller or even the controller is open source ??
>
>
> Is very interesting these info .... Actually I control multiple robot
> using userspace Qt code .... and I project to convert my app into
> Qt-userspace + Qt RTAI (split my app in 2 different thread) ... with
> rt-ethernet for sending controlling messages ... and the mechanism of your
> system using Keil RTX (similar to rtos if understand it well).
>
> My robot's target behavior is to wander around and take photos, recognize
what it sees in those photos and remember that in a database. Later you
can ask it questions and give it simple commands based on the database.
The research goals is to combine Convolutional Neural Networks for object
recognition with a "logic database" (or "expert system") based on Prolog.
So the robot is able to reason about what it sees.
It uses three levels of controller running on three different computers
1) Real-time controller - Handles (A) the four servo motors that drive the
wheels via gearboxes, (B)the IMU to measure rates of turn, accretions and
so on and (3) ultrasonic sensors for obstacle detection. This runs on ARM
Cortex M4 and use mbed and RTX
2) Navigation control. Handle "SLAM" algorithm so robot "knows" where it
is on the map. Uses a depth camera (microsoft Kinect) and wheel odometry
and the IMU. This controller is a Raspberry Pi 3 running Ubuntu and ROS.
3) The database, image recognizer and user interface - Also runs
Ubuntu,and ROS but uses a server class multi-core Intel machine with a fast
GPU (used for computation, not display) This computer does not fit on the
mobile platform but connects to the Raspberry Pi via WiFi
There are several user interfaces but If the robot must be teleoperate
there is "rviz" http://wiki.ros.org/rviz
rviz - ROS Wiki<http://wiki.ros.org/rviz>
wiki.ros.org
User Documentation. User Guide. Troubleshooting. Built-in Display Types. Basic
Shapes API Wrapper - rviz_visual_tools. Tutorials. Markers: Sending Basic
Shapes (C++)
If you are controlling robot without using ROS you are working to hard
http://www.ros.org/about-ros/
ROS.org | About ROS<http://www.ros.org/about-ros/>
www.ros.org
The Robot Operating System (ROS) is a flexible framework for writing robot
software. It is a collection of tools, libraries, and conventions that aim to
simplify the ...
Keil RTX is a free (but very professional) implementation of the CMSIS-RTX
standard. I don't use that directly. These is a C++ layer over that that
gives "Arduino-like" ease of use and better portability. The layer is
called "mbed" and like Arduino comes with an IDE. Actually it comes with
multiple IDEs, one is web based, good for experiments and one is a local
CLI based one that you can run inside Eclipse if you like.
See these links for more details:
RTX: http://www2.keil.com/mdk5/cmsis/rtx
CMSIS-RTOS RTX<http://www2.keil.com/mdk5/cmsis/rtx>
www2.keil.com
CMSIS-RTOS RTX is a royalty-free, deterministic real-time operating system
implementing the CMSIS-RTOS API, a generic RTOS interface for Cortex-M
processor-based devices.
mbed: https://www.mbed.com/en/platform/mbed-os/
mbed OS | mbed<https://www.mbed.com/en/platform/mbed-os/>
www.mbed.com
mbed OS. ARM mbed OS is an open source embedded operating system designed
specifically for the "things" in the Internet of Things. It includes all the
features you ...
The system, mbed on Cortex M is very light weight. It is 100x to small to
run Linux but can do microsecond resolution real-time control
I'm getting good performance. My Quadrature encoders are sending 11,500
edges per second and it keeps up just fine while doing several other tasks
at the same time. Hardware is a 32-bit ARM M4 at bout 100MHz
The cortex "A" processors are the ones that run Linux and are found the Pi
and Beagalbones. The Cortex "M" is much smaller bt comes with hardware
on-chip for counting and timing and A/D conversions and PWM generations so
al those functions are NOT done on the CPU. It's all this hardware that
makes them better then a Pi 3 for real-time control. For example there is
a quadrature decoder on the "M" that can accept encoder signals up to about
1MHz. (Try THAT on a Pi 3 Linux machine using interrupts)
You are using multiple robots? I plan to do this. My goal is to have
mutual platforms and one Prolog database. But one of the platforms will be
a wall mounted security camera, Not much of a robot but still it might dump
good data into the database so I could ask "Did you see John today?"
>
> regards
>
> giorgio
>
>
> ________________________________
> Da: Chris Albertson <albertson.ch...@gmail.com>
> Inviato: venerdì 19 maggio 2017 01.27
> A: Enhanced Machine Controller (EMC)
> Oggetto: Re: [Emc-users] Best cam linux/open for additive manufactory
>
> I'm a long-tine Linux user, staring in the mid1990's when Linux was
> distributed on a set of floppy disks. Before that I remember BSD UNIX and
> yes even "Multics". Anyone else remember how the name "Unix" was a an
> editorial comment about Multics? That was in the 1980's
>
> I've been a full-time user of Linux-like software going back maybe 15 year
> before Linux was written.
>
> I'm using Linux and one other open source Real Time OS ("mbed" a layer over
> Keil RTX) in a line of robots. Using my machine tools to build parts for
> same.
>
> So yes, I really would like to see a linux based end to end CAD/AM
> workflow. It appears the one just barely exists for 3D printing. There
> are 3D modelers and drafting tools (Blender and FreeCAD) but the missing
> link is g-code generation to drive 3D metal cutting tools.
>
> The current stat of the art with Linux CAM is about where it was with PCB
> design before Cern tool over KiCAD. It was possible but not really
> practical.
>
> I doubt things will change until some one with loads of cash and no need to
> earn money adopts Linux based CAM and pays a full-time staff of engineers
> to work on it for a few years.
>
>
>
>
>
>
> On Thu, May 18, 2017 at 2:29 PM, Bruce Layne <linux...@thinkingdevices.com
> >
> wrote:
>
> > As I mentioned in my previous too-long email, Simplify3D is a slicing
> > program (more of a complete 3D printing CAM program) that runs natively
> > under Linux. I lean strongly in favor of Free Open Source Software, and
> > there are very good options as Andy mentioned, but I thought it was
> > worth paying
>
>
> --
>
> Chris Albertson
> Redondo Beach, California
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> This list is for users of the Enhanced Machine Controller (EMC). Topics
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> general EMC related ...
>
>
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--
Chris Albertson
Redondo Beach, California
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