Re: Training a paint arm robot

If you could capture your 6-axis `key-points' to a data file through
jogging to your key positions then it would be possible to import
this data into 3DS MAX and use its inverse kinematics to visualise
and interpolate the motion. It would also be possible to get a
constant speed at the tool / spray head and it shouldn't be much more
complex then what I did for my 5-axis router;
http://www.rainnea.com/cnc_5axis.htm
Alternatively, you could design the motion path within 3DS MAX using
my CNC Toolkit for 3DS MAX.
A while ago I used the Mach1 ocx to capture some real time 3-axis
encoder data and if Art gets some time to modify Mach2 to support an
I/O card to handle 6 encoders then it should be possible to capture
the free-hand movement of a robot arm or digitiser.

Regards,
Rab


--- In CAD_CAM_EDM_DRO@yahoogroups.com, "Raymond Heckert" <jnr@a...>
wrote:

> I should think that one could do a 'teach' synthesis with a

modified touch

> probe program (something that allowed you to synthesize a servo

action)

> which would move the arm axes to simulate the required motions, and

perhaps

> clicking a switch at each point that *absolutely* had to match the

required

> path. I thought that TurboCNC had touch probe capabilites. Does

It? If so,

> it could probably be easily (Ha-Ha on you, Dave K.) modified to do

this.

> But, WOW what a powerful capability... I could even 'robotize' my

own

> welding procedures. YES, somebody, please develop somwething like

this!

>
> ----------
> > From: wsampl00 <WSAMPLESIS@C...>
> > Several years ago I saw a program where a robot paint arm was
> > trained manually by moving the paint arm. The arm was placed in

lean

> > mode and then a person would paint the object by moving the arm.
> > Once the training was complete the robot could duplicate the

spray

> > pattern. Does anyone know an easy and affordable way to implement
> > this? I know that Galil Montion Control board's have a
> > learn/training mode; however. I would have to spend over $6,000

on

> > controller boards, not to mention the encoders and motors.
> >
> > My thinking is a PC based system that would record the timing and
> > signals on the various encoders for the lean mode. I would think
> > this would be a relatively easy program to write, and there

should

> > be some shareware or low cost software out there. Does anyone

have

> > any ideas?
> >
> > Thanks
> > Bill