Anyone looked at this guy and his robot arm etc. Nice to see someone else makes almost as many mistakes as I do. https://www.youtube.com/watch?v=T3fl1FIKEQo
> -----Original Message----- > From: Chris Albertson [mailto:albertson.ch...@gmail.com] > Sent: January-05-22 5:58 PM > To: Enhanced Machine Controller (EMC) > Subject: Re: [Emc-users] Tormach writing open sorce ROS2/Machiekit/LCNC > bridge. > > The current repository is "machinekit-hal". They only work on HAL. There > are no CNC apps in the current repository. All the stuff for running CNC > equipment is removed now. When the developers moved from "machinekit" to > "machinekit-hal" they abandoned all the CNC-related stuff. It is all on > GitHub, go look. > > But it does seem to be actively developed although the last update was > almost two weeks ago. I think someone took a Christmas break. > > If I had to guess what Tormach does, it would be to use their own > closed-source "Path Pilot" app along with HAL from Machine kit. But I'm > guessing. They are funding the ROS2 work. > > Someone asked, "What is ROS2?" It is the planner and motion controller > that is now probably the most-used. The part of ROS used for > manipulators (arms) is called "MoveIt" and a Google search will turn up > information on MoveIt. Motion planning is harder with a robot arm > because they don't usually run pre-programmed code. In the CNC world the > motion path is designed when the g-code is written. But robot controls > have to do this in real time as the world around them changes. > > When the palletizing robot lifts a box to be placed on a pallet the box > might be in a different location and of course the pallets are placed more > or less randomly wherever the human forklift driver left it. Even a pick > and place robot has to find the parts which might be loose-packed in a open > bin. Moveit is open source and integrated with ROS. ROS is larger > "Robot Operating System" that includes things for communications, driving > wheeled robots and other stuff like MoveIt. > > Not using MoveIt to move a robot arm is like saying "LCNC is too complex, > I'll just write my own code on an Arduino to read g-code and generate steps > for my 4-axis mill." You could, maybe, but it would take more than a few > days. > > For those who like looking at interesting robots here is a video from 2019, > these have been improved but are not moving boxes in warehouses. You can > see that the task they are doing can't be pre-programmed. Really this is > not much more than a CNC mill. The wheels but the machine in (X,Y and the > orange suction cup-thing is like a spindle that moves in Z, it just > operates in a larger space than a mill table > https://youtu.be/5iV_hB08Uns > > > > > On Wed, Jan 5, 2022 at 11:49 AM Ralph Stirling < > ralph.stirl...@wallawalla.edu> wrote: > > > The newest version of Machinekit separates "emc" from hal, > > and permits their hal to compile with standard Linuxcnc 2.8 > > if I recall correctly. Their focus has always been on the > > hal end of things rather than gui's and cnc machining. > > > > I can't find the email post that explained this, and the machinekit > > documentation is rather sparse, so how one actually installs > > things with current LinuxCNC high level code and Machinekit > > hal code, I couldn't tell you. > > > > -- Ralph > > ________________________________________ > > From: Rob C [rclandro...@gmail.com] > > Sent: Wednesday, January 5, 2022 10:53 AM > > To: Enhanced Machine Controller (EMC) > > Subject: Re: [Emc-users] Tormach writing open sorce ROS2/Machiekit/LCNC > > bridge. > > > > CAUTION: This email originated from outside the Walla Walla University > > email system. > > > > > > I was also confused by machine kit reference from tormach. I thought > > tormach was based on linuxcnc and not the machine kit branch/fork > > > > although I guess if Tormach are running a 2.7 linuxcnc version I guess you > > could say they have their own branch/fork > > > > I would have thought that since the change to python 3 with linuxcnc that > > will be quite a divergent change to linuxcnc that will make it difficult to > > integrate any items pushed back to 2.7 > > > > On Wed, 5 Jan 2022, 18:38 John Dammeyer, <jo...@autoartisans.com> wrote: > > > > > > From: Chris Albertson [mailto:albertson.ch...@gmail.com] > > > > > > > > On Wed, Jan 5, 2022 at 3:29 AM Gregg Eshelman via Emc-users < > > > > emc-users@lists.sourceforge.net> wrote: > > > > > > > > > That repeatability is plenty good enough to drop work into an > > automatic > > > > > holding fixture (which does the final precision positioning) then > > pick > > > the > > > > > pieces out for transfer to another manufacturing stage or into a box. > > > > > > > > > > > > > > > > As it turns out, for all the really hard tasks, +/- a quarter-inch > > > (0.25") > > > > is accurate enough. You only need 0.001 inches for the simple no-brain > > > > jobs. So my point is that you can do a LOT with the cheaper 3D > > printed > > > > plastic version of this robot. > > > > > > > > I'm surprised there are not more people here working on robots. hey > > are > > > > very much like CNC tools but more interesting. > > > > > > > > > > I'm headed in that direction once I get the power drawbar working to my > > > satisfaction. I had considered using one of the Size24 Steppers with > > 50:1 > > > planetary drives to replace the butterfly impact wrench. Easy enough to > > > track turns with an encoder on the back of the motor and let it stall > > when > > > target torque is reached with software control of motor torque. Then to > > > remove use full torque for required number of turns. > > > > > > Then the tool changer. To me a robot arm seemed more useful since I'm > > > using TTS and R8 tooling. Lining up the R8 is possible because the > > spindle > > > has step/dir so the spindle could be rotated until the R8 tool slips up > > the > > > key. > > > > > > Anyway, my Ball Bearing Jacobs Chuck with R8 weighs in at 1.7kg without > > > tooling so I think a 3D printed version of this arm is probably just a > > bit > > > undersize along with the planetary gearboxes not being 0 backlash. > > > > > > You're right. His software is minimal but still the entire project as > > > open source is impressive. Few people are doing it to that level even if > > > he's earning income off the metalwork and part sets which comes to over > > $1k > > > if you buy his metal and bearing and parts sets along with the > > > StepperOnline motors and gearboxes. > > > > > > But still it's interesting other than I'd much rather dedicated a Pi4 and > > > LCNC to it. With no idea where to start since I don�t' even know what > > > ROS2 is and am confused as to why Tormach is using the MachineKit version > > > instead of LCNC. I thought MachineKit had stalled and was no longer > > used. > > > > > > John > > > > > > > > > > > > > > > _______________________________________________ > > > Emc-users mailing list > > > Emc-users@lists.sourceforge.net > > > > > https://nam12.safelinks.protection.outlook.com/?url=https%3A%2F%2Flists.sourceforge.net%2Flists%2Flistinfo%2Femc- > users&data=04%7C01%7Cralph.stirling%40wallawalla.edu%7C927f98bdb466429393e908d9d07ca945%7Cd958f048e43142779c > 8debfb75e7aa64%7C0%7C0%7C637770056117520462%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiL > CJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=lZrq9WQkB8RdlXePS6pA7hkoankChBqt%2FC19vyoBSfA%3D&reserve > d=0 > > > > > > > _______________________________________________ > > Emc-users mailing list > > Emc-users@lists.sourceforge.net > > > > https://nam12.safelinks.protection.outlook.com/?url=https%3A%2F%2Flists.sourceforge.net%2Flists%2Flistinfo%2Femc- > users&data=04%7C01%7Cralph.stirling%40wallawalla.edu%7C927f98bdb466429393e908d9d07ca945%7Cd958f048e43142779c > 8debfb75e7aa64%7C0%7C0%7C637770056117520462%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiL > CJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=lZrq9WQkB8RdlXePS6pA7hkoankChBqt%2FC19vyoBSfA%3D&reserve > d=0 > > > > > > _______________________________________________ > > Emc-users mailing list > > Emc-users@lists.sourceforge.net > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > > -- > > Chris Albertson > Redondo Beach, California > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
