Software:
ABB RobotStudioProgramming Language
Python, C#Import Libraries
More information can be found in the individual scripts (*.py, *.cs).Supported on the following operating systems:
Windows| Software/Package | Link |
|---|---|
| ABB RobotStudio | https://new.abb.com/products/robotics/robotstudio/downloads |
Motion mirroring in the motion planning of an articulated robotic arm through the use of Externally Guided Motion (EGM) within ABB RobotStudio. The program utilizes the User Datagram Protocol (UDP) to control and analyze data. The goal was to create a path in the 'Master' robot and mirror that path with the 'Slave' robot. This process can be used, for example, for path correction or other tasks. As an open-source project, it can be applied to various tasks, as creativity knows no limits.
The project was realized at the Institute of Robotics, Johannes Kepler University in Linz as part of an Erasmus+ research internship.
IP Address Settings:
| ABB RobotStudio | PC | |
|---|---|---|
| Simulation Control | 127.0.0.1 | 127.0.0.1 |
| PORT | |
|---|---|
| UDPUC | 6511 |
| UDPUC | 6512 |
WARNING: To control the robot in the real world, it is necessary to disable the firewall.
Notes:
EGM (Externally Guided Motion) is an interface for ABB robots that allows smoothless control of the robotic arm from an external application. The EGM can be used to transfer positions to the robot controller in either Joint/ Cartesian space. In our case it is the control of the robot using Cartesian coordinates.
The file "egm.proto" can be found in the installation folder of RobotWare. For example on Windows with RobotWare 7.6.1:
C:\Users\<user_name>\AppData\Local\ABB Industrial IT\Robotics IT\RobotWare\RobotControl_7.6.1\utility\Template\EGMThe Protobuf code generator can be used to generate code from a *.proto file into individual programming languages.
Link: Protobuf Code Generator and Parser
[/Experiment_Demonstration/IRB120_3_58_01/]
Description:
The *.exe files generated from the ABB RobotStudio software to demonstrate the results of the experiments.
[/CSharp_App/../Egm.cs]
Description:
Autogenerated code from the egm.proto -file.
[/CSharp_App/../Program.cs]
Description:
The main program to control the robot and collect data.
[/Data_Evaluation/IRB120_3_58_01/]
Description:
Programs for evaluation (analysis) of data collected from the robotic arm.
[/ABB/IRB120_3_58_01/../]
Description:
The main ABB RobotStudio projects for robot control and data collection via EGM.
[/PROTO/]
Description:
The egm.proto -file.The results of the analysis for experiment type 1 (Path_Experiment_1_T1) with velocity v40 and zone z0.
EGM Cartesian Position / Orientation in 2D:
EGM Cartesian Position / Orientation in 3D:
Signal Analyzer:
Expression of Velocity and Acceleration
@misc{RomanParak_EGM_MotionMirroring,
author = {Roman Parak},
title = {Motion mirroring of the abb robot arm via egm},
year = {2022},
publisher = {GitHub},
journal = {GitHub repository},
howpublished = {\url{https://https://github.com/rparak/Transformation}}
}