generative modeling for Rhino
I have managed to produce a tool path from a surface and from this generated 3 axis G-code for a cnc machine.
What a require to move my project forward is to adjust the code from 3 axis to 5/6/7 axis to be used on a Geku robot arm.
Since I am no expert on coding and GH, I have no idea where to start. I have enclosed my GH file which produces the 3 axis code.
Any ideas would be ideal.
Are you sure that "Geku" is a robot manufacturer? Because the only relevant Google result was this homepage: http://www.geku.co.uk/
They are a robot integrator and sell KUKA, ABB, and Motoman units - so you have to find out what you actually have, if you can e.g. use KUKA|prc or HAL (both e.g. from Food4Rhino).
I see in your profile that you're from Loughborough - as far as I know, the university there has a Motoman.
If you want/have to do it yourself, you should analyze the structure of the existing robot code, if it requires Cartesian or axis values. Then you might have to deal with inverse kinematics, matrices etc. - it's not easy, but fun :)
I am unsure but I think the arm may be a motoman then.
Thanks for the insight into the direction I will have to go in.
Also Google search this forum for "G code".
The topic has been discussed in the past.
I have searched the forum for this topic, but all I seem to find is 3 axis stuff and the one 5 axis discussion which I have tried to integrate into my system but have failed on each attempt.
That's probably because while G-Code is pretty standard for CNC routers, most robot manufacturers have proprietary code: ABB: RAPID code, Kuka: KRL code...
Arm based movements are much different than parallel movements
What I am struggling with is adding in the extra angle data from the normals which are fixed to the Z axis into the current code generator. I have no idea where to insert the extra data.
I have sent you some robot control files I received from the technition to your email.
Hope you receive them and that they are useful.