Re: Training a paint arm robot

Thanks for everyone's thoughts on this. I don't think that a jog
from point A to point B would work. I need smooth fluid motion of
the arm. There are six axis and at least two switches that need to
be run by the system. The actual application is a paint robot.

I was thinking of using encoders to generate data file that can then
be converted to step and direction code. By recording the output and
time of the pulses from the encoders, one should be able to control
ramp and velocity without having to program it. Of course you would
have to move the arm no faster then the motors could move it.

I was thinking the text file to run the arm might look something
like the following:

OUTPUT TIME/
12345678 STEP

01010110 1
01011001 2
11110011 3
11110001 4
11001100 5
11101100 6
11100100 7

I know that text file will end up being huge, but fast computers are
fairly cheap now. The text file could also be broken in to multiple
files if needed.

Bill