ロボットメモ

Last updated at 2024-09-20Posted at 2022-07-08

COBOTTA 制御ログ

ログ記録

[F2 アーム] - [F3 サーボ状態] - [制御ログタブ]
[F2 記録開始]と[F3 記録停止]で記録する。
ログの取得が開始されると、制御ログタブおよびサーボログタブのアイコンの上にRECが点灯します。

ログファイル取得

リポジトリ franka_test2
Manual \ TwinCAT3_PLC環境構築 \ 30WINCAPSでデータ取得.txt 参照
Manual \ TwinCAT3_PLC環境構築 \ 40WINCAPSで制御ログ取得.txt 参照

リンク

https://www.fa-manuals.denso-wave.com/jp/COBOTTA%20PRO/017440/ 制御ログの取得・表示・保存
https://www.fa-manuals.denso-wave.com/jp/COBOTTA%20PRO/017441/ 制御ログ設定の表示と変更
https://www.fa-manuals.denso-wave.com/jp/COBOTTA%20PRO/017218/ 「ファイル」メニュー

MoveIt

C++用ユーザライブラリ（MoveGroupInterface）の仕様
https://robo-marc.github.io/moveit_documents/move_group_interface.html
setJointValueTarget(),move()使用
https://qiita.com/kazuki21057/items/ddd43e271909b02537ad
setPoseTarget(),move()使用
https://qiita.com/srs/items/5501a5d5059e4596f8f0
MoveGroupInterface Class Reference
http://docs.ros.org/en/melodic/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1MoveGroupInterface.html
MoveIt実装調査
https://qiita.com/carpenders/items/5e8d3ea07527e0a0b517

franka

franka_ros

The franka_ros metapackage integrates libfranka into ROS and ROS control.
https://frankaemika.github.io/docs/franka_ros.html
franka_control_node -> franka_hw -> libfranka -> ネットワーク通信という階層構造

franka_hw

This package contains the hardware abstraction of the robot for the ROS control framework based on the libfranka API.
franka_hw実装調査
https://qiita.com/carpenders/items/a20c530b932fd119e619

franka_control

The ROS nodes franka_control_node and franka_combined_control_node are hardware nodes for ROS control that use according hardware classes from franka_hw. They provide a variety of ROS services to expose the full libfranka API in the ROS ecosystem.

Gazebo

https://kuwamai.hatenablog.com/entry/2018/07/11/212318
https://qiita.com/Karin-Sugi/items/4918168649a8fb9b35d3

連載物

ROS入門 npaka @note.com
https://note.com/npaka/n/n26a3364b5136
ROS Industrial (Kinetic) 演習トレーニング
https://industrial-training-jp.readthedocs.io/ja/latest/index.html
ROS講座 @srs @quiita
https://qiita.com/srs/items/5f44440afea0eb616b4a

デンソーウェーブ

TwinCAT連携以外の内容
https://www.denso-wave.com/ja/robot/

ORiN2

WINCAPSのインストールで以下のフォルダが作られる
b-CAPドキュメント
C:\ORiN2\CAP\b-CAP\CapLib\DENSO\RC9\Doc
ORiN2ドキュメント
C:\ORiN2\CAO\ProviderLib\DENSO\RC9\Doc
サンプルプログラム
C:\ORiN2\CAO\ProviderLib\DENSO\RC8\Samples\Robot\VC6

bCAP

https://www.denso-wave.com/ja/robot/product/function/b-CAP.html
https://github.com/DENSORobot/orin_bcap

cobotta_driver_for_linux

denso_cobotta-melodic-1.2.1-20210118.tar.bz2(354KB) Melodic Morenia
https://www.denso-wave.com/ja/robot/download/application/cobotta_driver_for_linux.html
会員登録して奥を閲覧

denso_cobotta_ros

cobotta固有のサービスの記載だけなのか
http://wiki.ros.org/denso_cobotta_ros

Overview
denso_cobotta_lib denso_cobotta_driver denso_cobotta_control denso_cobotta_gripper denso_cobotta_bringup denso_cobotta_descriptions denso_cobotta_moveit_config
ROS API
set_motor_state get_motor_state set_brake_state get_brake_state clear_error clear_robot_error clear_safe_state set_LED_state

denso_cobotta_ros github

ROSのCOBOTTA依存実装
https://github.com/DENSORobot/denso_cobotta_ros
denso_cobotta_bringup denso_cobotta_control denso_cobotta_descriptions denso_cobotta_driver denso_cobotta_gazebo denso_cobotta_gripper denso_cobotta_lib denso_cobotta_moveit_config denso_cobotta_ros scripts
denso_cobotta_ros実装調査
https://qiita.com/carpenders/items/fc5bbb169c3dda5845ba

denso_cobotta_ros github.io

githubのマニュアル
https://densorobot.github.io/docs/denso_cobotta_ros/
Getting started, Quickstart on MoveIt!, Command Reference

Getting started

# 準備
# Ubuntu-18.04 desktop
# ROS Melodic
# COBOTTA driver for Linux
$ sudo apt install ros-melodic-moveit \
                   ros-melodic-controller-manager \
                   ros-melodic-position-controllers \
                   ros-melodic-joint-state-controller \
                   ros-melodic-joint-trajectory-controller \
                   ros-melodic-joint-limits-interface \
                   ros-melodic-transmission-interface

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone -b melodic-devel https://github.com/DENSORobot/denso_cobotta_ros.git

$ cd ~/catkin_ws
$ source /opt/ros/melodic/setup.bash
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash

Quickstart on MoveIt!

Preparation
Start RViz and MoveGroup node
Run the sample script

Command Reference

rosservice
Motor Brake LED Error CALSET
rostopic
Button, MiniIO, Robot state, Safety MCU state, Parallel gripper, Vacuum gripper

その他

https://www.jstage.jst.go.jp/article/jrsj/35/4/35_35_284/_pdf 中の人のROSインターフェース
https://www.kdel.org/wp/
https://www.kdel.org/wp/?cat=20 カテゴリ：コボタ
https://www.rt-shop.jp/blog/archives/12391 コボタのコンサル
https://www.kdel.org/wp/?p=2293 cobottaのrosのメモ
https://asukiaaa.blogspot.com/2018/06/raspberry-pi-raspbianstretchrosmelodic.html ros raspi
https://www.vstone.co.jp/products/scara_robot/download/VSASR_ROS_Manual.pdf vstone
https://robot.isc.chubu.ac.jp/ 中部大学
https://www.coppeliarobotics.com/

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