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WORLD LEADER OF ROBOT TECHNOLOGY WWW.MINIROBOT.CO.KR 1 “METAL-FIGHTER” EDUCATION COURSE.

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Presentation on theme: "WORLD LEADER OF ROBOT TECHNOLOGY WWW.MINIROBOT.CO.KR 1 “METAL-FIGHTER” EDUCATION COURSE."— Presentation transcript:

1 WORLD LEADER OF ROBOT TECHNOLOGY 1 “METAL-FIGHTER” EDUCATION COURSE

2 WORLD LEADER OF ROBOT TECHNOLOGY 2 power switch battary source input charge input (adapter) DIO port 0-5 motor 0-5 (G6A) DIO port 6-11 motor 6-11 (G6B) DIO port motor (G6D) DIO port motor (G6C) A/D, xiro rf/RC receiver LCD/PWM output RX/TX (serial port) PC interface download for robobasic 1. Robot Controller MR-C3024FX

3 WORLD LEADER OF ROBOT TECHNOLOGY 3 motor 6-8 G6B (left arm) motor 0-4 G6A (left leg) motor G6D (right leg) motor G6C (right arm) 2. Link to Metal-Fighter

4 WORLD LEADER OF ROBOT TECHNOLOGY ROBOT to PC Interface ① Signal port setting MR-C3024 FX series circuit ② set controller information ③ view controller information

5 WORLD LEADER OF ROBOT TECHNOLOGY 5 Must be make sure accurately power condition ? - check battary link, battary charge condition Must be make sure accurately interface cable ? - check enclosed serial interface cable (serial port at PC, port at Robot) Check make sure accurately telecomunication port ? - Please check the port between real telecomunication with robobasic on programed port Please make sure accurately controller? - Metal-Fighter must be make sure “MR-C3024FX serial port” Before robot programming, Please check an error and controller signal display Before robot programming, Please check an error and controller signal display 4. Interface Error

6 WORLD LEADER OF ROBOT TECHNOLOGY 6 ② Combine Operation ④ action ⑤ if push the remocon “1”key, the robot bow ① Template no.1 sheet open ③ download 5. Program Download

7 WORLD LEADER OF ROBOT TECHNOLOGY Program Basis I Basic Header ‘PTP function set (robot simultaneous controlling) PTP SETON PTP ALLON ‘Motor direction setting (for Metal-Fighter) DIR G6A,1,0,0,1,0,0 DIR G6B,1,1,1,1,1,1 DIR G6C,0,0,0,0,0,0 DIR G6D,0,1,1,0,1,0 ‘Motor motion begin location setting (prevent extreme motor action) GETMOTORSET G6A,1,1,1,1,1,0 GETMOTORSET G6B,1,1,1,0,0,0 GETMOTORSET G6C,1,1,1,0,0,0 GETMOTORSET G6D,1,1,1,1,1,0 ‘Basic motor speed setting SPEED 5 ‘All motor action MOTOR G24 ‘PTP function set (robot simultaneous controlling) PTP SETON PTP ALLON ‘Motor direction setting (for Metal-Fighter) DIR G6A,1,0,0,1,0,0 DIR G6B,1,1,1,1,1,1 DIR G6C,0,0,0,0,0,0 DIR G6D,0,1,1,0,1,0 ‘Motor motion begin location setting (prevent extreme motor action) GETMOTORSET G6A,1,1,1,1,1,0 GETMOTORSET G6B,1,1,1,0,0,0 GETMOTORSET G6C,1,1,1,0,0,0 GETMOTORSET G6D,1,1,1,1,1,0 ‘Basic motor speed setting SPEED 5 ‘All motor action MOTOR G24

8 WORLD LEADER OF ROBOT TECHNOLOGY 8 To assembling multi-linked robots very difficult accuracy. during setup come to error by little by little, if the errors are accumulated it shoud be big error end of assembling, and then action program come to some trouble. so that after end of assembling robot, needed state revision step. This point we define “Zero Setting” Multi-linked robots needed many linkage simultaneous action for one motion. And then, cause of difference all motor’s angle state, even if all motor’s are started simultaneous, some motor ahead completed otherwise late completed. Therefore “PTP” control method to be more smoothly all motor’s action begin to finish simultaneous completed. Multi-linked robots needed many linkage simultaneous action for one motion. And then, cause of difference all motor’s angle state, even if all motor’s are started simultaneous, some motor ahead completed otherwise late completed. Therefore “PTP” control method to be more smoothly all motor’s action begin to finish simultaneous completed. Zero Point PTP (Point To Point; robot simultaneous controlling ) 7. Control Basis Language

9 WORLD LEADER OF ROBOT TECHNOLOGY Describe basic header at edit window 2. Click the manu “motor control” 3. Display current motor state 4. Current motor state “insert” => Stand-up pose 5. R_Leg, L_Leg remove the check “at group use button” 6. User can set motion down pose by Manually 7. R_Leg, L_Leg click at “group use button” 8. Current motor state “insert” => Sit down pose 9. “Close” 10. User can modify at edit window themselves. 11. Down load 12. Metal-Fighter play motion. The Example Program “ Sit down to Stand-up” The Example Program “ Sit down to Stand-up” 8. Program Basis II

10 WORLD LEADER OF ROBOT TECHNOLOGY 10 DIM a AS BYTE PTP SETON PTP ALLON DIR G6A,1,0,0,1,0,0 DIR G6B,1,1,1,1,1,1 DIR G6C,0,0,0,0,0,0 DIR G6D,0,1,1,0,1,0 GETMOTORSET G6A,1,1,1,1,1,0 GETMOTORSET G6B,1,1,1,0,0,0 GETMOTORSET G6C,1,1,1,0,0,0 GETMOTORSET G6D,1,1,1,1,1,0 SPEED 5 MOTOR G24 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 DIM a AS BYTE PTP SETON PTP ALLON DIR G6A,1,0,0,1,0,0 DIR G6B,1,1,1,1,1,1 DIR G6C,0,0,0,0,0,0 DIR G6D,0,1,1,0,1,0 GETMOTORSET G6A,1,1,1,1,1,0 GETMOTORSET G6B,1,1,1,0,0,0 GETMOTORSET G6C,1,1,1,0,0,0 GETMOTORSET G6D,1,1,1,1,1,0 SPEED 5 MOTOR G24 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 DELAY 3000 'Down MOVE G6A, 101, 133, 24, 162, 100 MOVE G6D, 105, 135, 23, 160, 94 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 DELAY 3000 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 DELAY 3000 'Down MOVE G6A, 101, 133, 24, 162, 100 MOVE G6D, 105, 135, 23, 160, 94 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 DELAY 3000 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, Programming Above example robot sit down to stand-up pose after 3 seconds.

11 WORLD LEADER OF ROBOT TECHNOLOGY 11 DIM a AS BYTE PTP SETON PTP ALLON DIR G6A,1,0,0,1,0,0 DIR G6B,1,1,1,1,1,1 DIR G6C,0,0,0,0,0,0 DIR G6D,0,1,1,0,1,0 GETMOTORSET G6A,1,1,1,1,1,0 GETMOTORSET G6B,1,1,1,0,0,0 GETMOTORSET G6C,1,1,1,0,0,0 GETMOTORSET G6D,1,1,1,1,1,0 SPEED 5 MOTOR G24 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 DIM a AS BYTE PTP SETON PTP ALLON DIR G6A,1,0,0,1,0,0 DIR G6B,1,1,1,1,1,1 DIR G6C,0,0,0,0,0,0 DIR G6D,0,1,1,0,1,0 GETMOTORSET G6A,1,1,1,1,1,0 GETMOTORSET G6B,1,1,1,0,0,0 GETMOTORSET G6C,1,1,1,0,0,0 GETMOTORSET G6D,1,1,1,1,1,0 SPEED 5 MOTOR G24 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 main: a = REMOCON(1) IF a = 1 THEN 'Down MOVE G6A, 101, 133, 24, 162, 100 MOVE G6D, 105, 135, 23, 160, 94 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 ELSEIF a = 2 THEN 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 ENDIF GOTO main main: a = REMOCON(1) IF a = 1 THEN 'Down MOVE G6A, 101, 133, 24, 162, 100 MOVE G6D, 105, 135, 23, 160, 94 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 ELSEIF a = 2 THEN 'Stand MOVE G6A, 100, 76, 145, 93, 100 MOVE G6D, 100, 76, 145, 93, 100 MOVE G6B, 100, 30, 80 MOVE G6C, 100, 30, 80 ENDIF GOTO main 10. Setting IR Remocon Push remocon “1” button key : sit down Push remocon “2” button key : stand-up pose

12 WORLD LEADER OF ROBOT TECHNOLOGY 12 Thanks you! Contact :


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