2008-04-06

Motoman controlled by Haptic

It's a lot of fun to control a robot with the Haptic. I like the way the robot moves.









5 comments:

s.bosman said...

Nice Job! I'm curius, do you youse serial communication or ethernet (DCI?)

majek said...

We have Turbo Function (MVL01B) in the MRC controller. I used Turbo which is using Realtime mode, connected with rs232 to computer. I believe it's not possible to achieve this kind of iteraction using DCI.

Marwan said...

Could you please tell us about the time delay in the communication. It seems that the system has some time delay but it is however stable !!!!!

majek said...

> Could you please tell us about the
> time delay in the communication.

The latency is on various levels. The most important factors are:
- the delays inside the robot (after ordering robot to move, it will actually wait for about 100-200ms before moving)
- the delays of communications between the robot and the computer (the destination point is synchronized between the pc and robot once per about 50ms)

I assume that in pessimistic case I have about 1/3 seconds delay in communication.

It's possible to reduce the latency by rewriting the communication protocol between the pc and robot, and by reducing the delays inside the pc (something like 10-15ms, context switch).

Torin Walker said...

Hello there, Majek - your links to the source code no longer work. Can you update, please? I just bought an SK6 and would like to interface with the serial just as you did, and it would be great to see how see how you did yours.