Example Program 12: MM_S12_Viz_ForLoop

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Program Introduction

Description

The robot triggers the Mech-Viz project to run, obtains the planned path, and then stores the planned path by looping for picking and placing.

File path

You can navigate to the installation directory of Mech-Vision and Mech-Viz and find the file by using the Communication Component/Robot_Interface/KUKA/sample/MM_S12_Viz_ForLoop path.

Project

Mech-Vision and Mech-Viz projects

Prerequisites

You have set up the Standard Interface communication.
Automatic calibration is completed.

This example program is provided for reference only. Before using the program, please modify the program according to the actual scenario.

Program Description

This part describes the MM_S12_Viz_ForLoop example program.

The MM_S12_Viz_ForLoop example program is similar to the MM_S2_Viz_Basic example program, except that MM_S2_Viz_Basic stores waypoints one by one and MM_S12_Viz_ForLoop stores waypoints by looping (the code of this feature is bolded). As such, the features of the sub program that are similar to those of MM_S2_Viz_Basic are not described in this part. For more information about these features, see Example Program 2: MM_S2_Viz_Basic.

DEF  MM_S12_Viz_ForLoop ( )
;---------------------------------------------------
; FUNCTION: trigger Mech-Viz project and get
; planned path, get poses using for-loop structure
; Mech-Mind, 2023-12-25
;---------------------------------------------------
   ;set current tool no. to 1
   BAS(#TOOL,1)
   ;set current base no. to 0
   BAS(#BASE,0)
   ;move to robot home position
PTP HOME Vel=100 % DEFAULT
   ;initialize communication parameters (initialization is required only once)
   MM_Init_Socket("XML_Kuka_MMIND",873,871,60)
   ;move to image-capturing position
LIN camera_capture Vel=1 m/s CPDAT1 Tool[1] Base[0]
   ;trigger Mech-Viz project
   MM_Start_Viz(2,init_jps)
   ;get planned path, 1st argument (1) means getting pose in JPs
   MM_Get_VizData(1,pos_num,vis_pos_num,status)
   ;check whether planned path has been got from Mech-Viz successfully
   IF status<> 2100 THEN
      ;add error handling logic here according to different error codes
      ;e.g.: status=2038 means no point cloud in ROI
      halt
   ENDIF
   ;save waypoints of planned path to local variables using for-loop structure
   FOR count=1 TO pos_num
      MM_Get_Jps(count,pick_point[count],label[count],toolid[count])
   ENDFOR
   Xpick_point1=pick_point[1]
   Xpick_point2=pick_point[2]
   Xpick_point3=pick_point[3]
   ;follow the planned path to pick
   ;move to approach waypoint of picking
PTP pick_point1 Vel=50 % PDAT1 Tool[1] Base[0]
   ;move to picking waypoint
PTP pick_point2 Vel=10 % PDAT2 Tool[1] Base[0]
   ;add object grasping logic here, such as "$OUT[1]=TRUE"
   halt
   ;move to departure waypoint of picking
PTP pick_point3 Vel=50 % PDAT3 Tool[1] Base[0]
   ;move to intermediate waypoint of placing
PTP drop_waypoint CONT Vel=100 % PDAT2 Tool[1] Base[0]
   ;move to approach waypoint of placing
LIN drop_app Vel=1 m/s CPDAT3 Tool[1] Base[0]
   ;move to placing waypoint
LIN drop Vel=0.3 m/s CPDAT4 Tool[1] Base[0]
   ;add object releasing logic here, such as "$OUT[1]=FALSE"
   halt
   ;move to departure waypoint of placing
LIN drop_app Vel=1 m/s CPDAT3 Tool[1] Base[0]
   ;move back to robot home position
PTP HOME Vel=100 % DEFAULT
END

The workflow corresponding to the above example program code is shown in the figure below.

The table below describes the feature of storing the planed path in waypoints by looping. You can click the hyperlink to the command name to view its detailed description.

Feature Code and description

Feature	Code and description
Store the planned path by looping	`FOR count=1 TO pos_num MM_Get_Jps(count,pick_point[count],label[count],toolid[count]) ENDFOR Xpick_point1=pick_point[1] Xpick_point2=pick_point[2] Xpick_point3=pick_point[3]` Line 1: FOR indicates a for loop. count is used to control the number of iterations in the loop (i.e., count starts from 1 and increments by 1 after each loop iteration until it exceeds the value of pose_num, at which point the loop ends). pose_num is the second parameter of the MM_Get_VizData command, which represents the number of waypoints returned by the vision system. Line 2: The MM_Get_Jps command stores the joint positions, label, and tool ID of a specific waypoint in the specific variables. The entire command stores the joint positions, label, and tool ID of the waypoint with an ID of count in the pick_point[count], label[count], and toolid[count] variables respectively. Line 3: The for loop ends. Line 4 to 6: Store the planned path (pick_point_b[1], pick_point_b[2], and pick_point_b[3]) in Xpick_point1, Xpick_point2, and Xpick_point3. Assuming that the path planned in this example program contains three waypoints, the above code is equivalent to the following three commands in the MM_S2_Viz_Basic example program: `MM_Get_Jps(1,Xpick_point1,label[1],toolid[1]) MM_Get_Jps(2,Xpick_point2,label[2],toolid[2]) MM_Get_Jps(3,Xpick_point3,label[3],toolid[3])`

Store the planned path by looping

FOR count=1 TO pos_num
   MM_Get_Jps(count,pick_point[count],label[count],toolid[count])
ENDFOR
Xpick_point1=pick_point[1]
Xpick_point2=pick_point[2]
Xpick_point3=pick_point[3]

Line 1: FOR indicates a for loop. count is used to control the number of iterations in the loop (i.e., count starts from 1 and increments by 1 after each loop iteration until it exceeds the value of pose_num, at which point the loop ends). pose_num is the second parameter of the MM_Get_VizData command, which represents the number of waypoints returned by the vision system.
Line 2: The MM_Get_Jps command stores the joint positions, label, and tool ID of a specific waypoint in the specific variables. The entire command stores the joint positions, label, and tool ID of the waypoint with an ID of count in the pick_point[count], label[count], and toolid[count] variables respectively.
Line 3: The for loop ends.
Line 4 to 6: Store the planned path (pick_point_b[1], pick_point_b[2], and pick_point_b[3]) in Xpick_point1, Xpick_point2, and Xpick_point3.

Assuming that the path planned in this example program contains three waypoints, the above code is equivalent to the following three commands in the MM_S2_Viz_Basic example program:

MM_Get_Jps(1,Xpick_point1,label[1],toolid[1])
MM_Get_Jps(2,Xpick_point2,label[2],toolid[2])
MM_Get_Jps(3,Xpick_point3,label[3],toolid[3])

Example Program 12: MM_S12_Viz_ForLoop

Program Introduction

Program Description

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