https://github.com/dcnick3/cablerobot

Trajectory planner and controller software for Cable robot in Innopolis University
https://github.com/dcnick3/cablerobot

Last synced: 10 months ago
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Trajectory planner and controller software for Cable robot in Innopolis University

• Host: GitHub
• URL: https://github.com/dcnick3/cablerobot
• Owner: DCNick3
• License: gpl-3.0
• Created: 2018-08-24T13:28:19.000Z (almost 8 years ago)
• Default Branch: master
• Last Pushed: 2018-08-24T18:41:57.000Z (almost 8 years ago)
• Last Synced: 2025-03-22T23:44:55.139Z (over 1 year ago)
• Language: C#
• Homepage:
• Size: 665 KB
• Stars: 3
• Watchers: 1
• Forks: 1
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# CableRobot

CableRobot is trajectory planner and execution controller for cable robot in Innopolis University

Depends on OmronFinsUDP.Net library

Has basic support of hpgl file format (`HpglParser.cs`) and VERY basic support of SVG format (`SvgParser.cs`)

Also this introduces own vector file format (an intermediate one) - CRC. `CableRobotTrajectories` contains some samples of such files

![ryzen](screenshots/controller_ryzen.png)

![composition](screenshots/trajectory_composition.png)

# A brief algorithm of work:

- Stage 1, `TrajectoryForm.cs`

	0. Parse Svg or Hpgl and convert it to crc

	

	1. Parse Crc to Commands (`CrcParser.cs`, `Command.cs` and `CommandType.cs`)

	2. Convert commands to robot movements (coordinates) (`CoordinateComputer.cs`)

	3. Use inverse kinematics to compute Angles of motors for points (`InverseKinematicsComputer.cs`) (!BROKEN!)

- Stage 2, `RobotControllerForm.cs`

	1. Use OmronFinsUDP.Net library to write these angles to robot (`RobotController.cs`, `AngleSender.cs`)

# Extra notes

## High CPU comsumtion on Windows

If you are running windows this program will use busy sleep to improve timings

## The math is (most probably) broken

There were no enough time to test and debug program, but `InverseKinematicsComputer.cs` does something wrong. Use some matlab models to test it before running on real robot