Regular approach to recreating positions through power cycles?
I would like to create a program that makes a waving motion in a repeated pattern. I would like it to be able to do this on startup. My desired program will turn on the AR4, calibrate its position, then go through a series of positions, then a sleep position so that it restarts in a predictable position for the next time. Pretty basic right? I'm having two problems. The first is that the machine doesn’t connect immediately with my computer, I must power cycle the robot and close and unclose the windows executable file until they connect. Is there a recommended way to cycle it on?
The second problem is with homing. Homing is great because it’s a baseline state for the joints, so then I can program them to move relatively using MoveJ operations. However, when I calibrate the robot, it moves to a certain gesture. When I calibrate it a second time it results in a different end gesture. How do I make sure I can calibrate and have a baseline gesture that my program can extend from?
Also, before the program is over, the wand must move to a “sleep” position so that I can assure that the robot starts in an orientation that after calibration will result in a predictable baseline position. Is this the standard approach for running the robot for an application? Is there a trickshot to creating movement cycles that can be recreated after a power cycle?
If the PC sleeps or the USB COM port drops, you’ll need to hit Set COM in the AR4 app, no need to keep restarting the EXE. Best practice: wake the PC first, open the AR4 app, click Set COM, then power the controller. Also avoid USB hubs if possible and keep the same COM number in Windows Device Manager.
Homing should always land in the same pose. If a second Calibrate ends in a different gesture, that’s not expected and I’d like to understand more. After “Calibrate” completes, which joint(s) look different, and by roughly how much? Are you changing zero offsets or pressing “Set Home” between runs? A quick video or screenshot of the first vs second calibration finish would help. please message me on these at info@anninrobotics.com
Chris Annin thank you for everything you've created, I wouldn't be able to afford my dream if it weren't for your robot arm kit.
I'll try that startup procedure next time I'm with the robot. I'll update you if it works consistently.
I don't change the offsets or press "set home" between orientations. Here's a sample picture of the first orientation vs the second. Sorry for the strange camera angle. When I orient it a third time the arm points downwards and swings counter clockwise into the control box. It looks like J2 and J4 and J5 don't return to the correct preprogramed positions after orientation, I usually see J3 and J5 in a perfect 90 angle in other videos.
I'll post a video of two orientation cycles as soon as I can.
Hey Chris that startup procedure helped! It connects consistently now.
I installed 6.2 and 6.1 and found that the calibration process made the robot arm move at 100% speed and attempt rotate J1 360+ degrees backwards after the joint is calibrated. 😅 I don't know how what caused this but
I decided to reinstall 6.0 and was able to auto calibrate and have it return to the same position multiple times 👍 BUT I moved the machine to a different place and recalibrated it, and the underlying issue resurfaced.
It looks like the problem is stemming from the J5 joint which rotates clockwise 50% of the time to calibrate and rotates counter clockwise 50% This leads to an issue where it crashes into the forearm especially when J6 is at an angle that doesn't fit into the forearm slot. Do you have any ideas on how to correct this?
Lucian Novosel did you change the driver switch settings when you upgraded to 6.1?
Guy Plouffe i did not. i will try this next.
Lucian Novosel That got me too, lol! Chris changed the driver step settings in 6.1 (maybe 6.2) to make a little bit smoother motion, but if you don't correct the driver switch settings then bad things happen. Almost smashed my monitor, but luckily I was quick on the e-stop!