Implement : Path Planning

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• Implement : Path Planing
• 
  

• 
  

• - Flow Chart Algorithm

• - Sudo Code

• Main Class():
• Move (Move arm of UR)
• Pick (start air pull) = Digital 1 on
• Drop (stop air pulling) = Digital 1 off
• 
  
• Class Action():

• Pick Lego to Jig
• Pick Lego from Jig to target position
• Move to original position
• Move to input position (Position that camera can get input)
• Store Lego
• 
  
• Class Path_Action():
• # Each function are contain each Action to the Path-Planing #
  example : Pick Lego to jig (Left-arm)+ Pick Lego from Jig to place (Right-arm)

- Zoning

- INPUT ZONE : This area is use for left arm (take photo with camera to get input process)

- Store : This area is use for left arm (Keep the input each layer)

- OUTPUT ZONE : This are is use for right arm ( Pick item from Jig to this area for get copy Lego from input)

- Danger Zone : This are is no Lego because two arms must be run thought this area 

• - Coding

• # we use function that tell in scriptmanual_en_3.1.pdf #
  You can download from here www.sysaxes.com/manuels/scriptmanual_en_3.1.pdf
  
  
• 
  
• ''' Main Class '''

class controll():

    def __init__(self,Hand):

        if Hand=="L":

            HOST = "192.168.1.8"  # Left = L

        else: HOST = "192.168.1.9" # Right = R

        PORT = 30002  # The same port as used by the server

        self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

        self.s.connect((HOST, PORT))

    def pick(self):

        cmd = "set_digital_out(1,True)" + "\n"

        self.s.send(cmd.encode('utf-8'))

        data = self.s.recv(1024)

    def drop(self):

        cmd = "set_digital_out(1,False)" + "\n"

        self.s.send(cmd.encode('utf-8'))

        data = self.s.recv(1024)

    def move(self,x,y,z,ro,pi,ya):

        move= "movej(p["x,y,z,ro,pi,ya,a=1,v=0.5)" + "\n"

        self.s.send(mm.encode('utf-8'))

        time.sleep(5)

        data = self.s.recv(1024)

Note : if you need full code about path planning please contract me
>> terus_limsurut@hotmail.com