样例程序9：MM_S9_Viz_RunInAdvance

程序简介

功能说明

机器人在抓取时触发Mech-Viz工程，然后通过消息分支在放置时触发相机拍照，从而提前规划下一轮路径，以缩短节拍。

文件路径

Mech-Vision和Mech-Viz软件安装目录下Communication Component/Robot_Interface/ABB/sample/MM_S9_Viz_RunInAdvance。

对于RobotWare6系统，文件后缀为.mod。对于RobotWare7系统，用户需将.mod修改为.modx。

所需工程

Mech-Vision工程和Mech-Viz工程

Mech-Viz工程需提前配置消息分支。

使用前提

  1. 已完成标准接口通信配置。

  2. 已完成自动标定。
此样例程序仅是示例程序。用户需根据实际情况在此基础上进行修改，请勿直接使用该程序。

程序解读

以下为MM_S9_Viz_RunInAdvance样例程序的代码及相关解释说明。

与MM_S5_Viz_SetBranch样例相比，本样例仅新增了提前规划下一轮路径的功能（加粗部分的代码）。因此，下文不再重复解释与MM_S5_Viz_SetBranch样例相同部分的代码（详情请参考MM_S5_Viz_SetBranch样例说明）。 
MODULE MM_S9_Viz_RunInAdvance
!----------------------------------------------------------
! FUNCTION: trigger Mech-Viz project then set branch and get
! planned path, trigger Mech-Viz project and set branch in
! advance during pick&place process
! Mech-Mind, 2023-12-25
!----------------------------------------------------------
!define local num variables
LOCAL VAR num pose_num:=0;
LOCAL VAR num status:=0;
LOCAL VAR num toolid{5}:=[0,0,0,0,0];
LOCAL VAR num vis_pose_num:=0;
LOCAL VAR num count:=0;
LOCAL VAR num label{5}:=[0,0,0,0,0];
!define local joint&pose variables
LOCAL CONST jointtarget home:=[[0,0,0,0,90,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL CONST jointtarget snap_jps:=[[0,0,0,0,90,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget camera_capture:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget drop_waypoint:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS robtarget drop:=[[302.00,0.00,558.00],[0,0,-1,0],[0,0,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
LOCAL PERS jointtarget jps{5}:=
[
    [[11.1329,49.0771,-36.9666,0.5343,79.2476,-169.477],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[11.2355,52.1281,-23.3996,0.5938,62.6295,-169.548],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[11.1329,49.0771,-36.9666,0.5343,79.2476,-169.477],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[11.1329,49.0771,-36.9666,0.5343,79.2476,-169.477],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]],
    [[0,0,0,0,90,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]]
];
!define local tooldata variables
LOCAL PERS tooldata gripper1:=[TRUE,[[0,0,0],[1,0,0,0]],[0.001,[0,0,0.001],[1,0,0,0],0,0,0]];

PROC Sample_9()
    !set the acceleration parameters
    AccSet 50, 50;
    !set the velocity parameters
    VelSet 50, 1000;
    !move to robot home position
    MoveAbsJ home\NoEOffs,v3000,fine,gripper1;
    !initialize communication parameters (initialization is required only once)
    MM_Init_Socket "127.0.0.1",50000,300;
    !move to image-capturing position
    MoveL camera_capture,v1000,fine,gripper1;
    !open socket connection
    MM_Open_Socket;
    !trigger Mech-Viz project
    MM_Start_Viz 2,snap_jps;
    !set branch exit port
    MM_Set_Branch 1,1;
LOOP:
    !get planned path, 1st argument (1) means getting pose in JPs
    MM_Get_VizData 1, pose_num, vis_pose_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
        Stop;
    ENDIF
    !save waypoints of the planned path to local variables one by one
    MM_Get_Jps 1,jps{1},label{1},toolid{1};
    MM_Get_JPS 2,jps{2},label{2},toolid{2};
    MM_Get_JPS 3,jps{3},label{3},toolid{3};
    !follow the planned path to pick
    !move to approach waypoint of picking
    MoveAbsJ jps{1},v1000,fine,gripper1;
    !move to picking waypoint
    MoveAbsJ jps{2},v300,fine,gripper1;
    !add object grasping logic here, such as "setdo DO_1, 1;"
    Stop;
    !trigger Mech-Viz project but not to trigger camera capturing
    MM_Start_Viz 2,snap_jps;
    !move to departure waypoint of picking
    MoveAbsJ jps{3},v1000,fine,gripper1;
    !move to intermediate waypoint of placing
    MoveJ drop_waypoint,v1000,z50,gripper1;
    !move to approach waypoint of placing
    MoveL RelTool(drop,0,0,-100),v1000,fine,gripper1;
    !set branch exit port and trigger camera capturing when robot moves out of camera’s field of view
    MM_Set_Branch 1,1;
    !move to placing waypoint
    MoveL drop,v300,fine,gripper1;
    !add object releasing logic here, such as "setdo DO_1, 0;"
    Stop;
    !move to departure waypoint of placing
    MoveL RelTool(drop,0,0,-100),v1000,fine,gripper1;
    !move back to robot home position
    MoveAbsJ home\NoEOffs,v3000,fine,gripper1;
    GOTO LOOP;
END_LOOP:
    !close socket connection
    MM_Close_Socket;
ENDPROC
ENDMODULE

上述样例程序代码对应的流程如下图所示。

sample9

以下为提前规划下一轮路径的代码及相关解释说明。

流程 代码及说明

通过循环（抓取→触发下一轮规划→放置）提前规划下一轮路径

 
LOOP:
    ...
    GOTO LOOP;

上述代码表示，循环执行LOOP与GOTO LOOP之间的代码。

!get planned path, 1st argument (1) means getting pose in JPs
MM_Get_VizData 1, pose_num, vis_pose_num, status;

上述代码表示，机器人通过MM_Get_VizData指令获取Mech-Viz规划的路径。

!save waypoints of the planned path to local variables one by one
MM_Get_JPS 1,jps{1},label{1},toolid{1};
MM_Get_JPS 2,jps{2},label{2},toolid{2};
MM_Get_JPS 3,jps{3},label{3},toolid{3};

上述代码表示，机器人通过MM_Get_Jps指令将规划路径转存至指定变量。本样例假设jps{1}、jps{2}、jps{3}分别为抓取接近点、抓取点、抓取离开点。

!follow the planned path to pick
!move to approach waypoint of picking
MoveAbsJ jps{1},v1000,fine,gripper1;
!move to picking waypoint
MoveAbsJ jps{2},v300,fine,gripper1;
!add object grasping logic here, such as "setdo DO_1, 1;"
Stop;

上述代码表示，机器人依次移动到抓取接近点、抓取点，然后设置DO指令（例如“setdo DO_1, 1;”），控制末端工具进行抓取。

!trigger Mech-Viz project but not to trigger camera capturing
MM_Start_Viz 2,snap_jps;

上述代码表示，机器人通过MM_Start_Viz指令再次触发Mech-Viz工程运行。此时机器人已获取到规划的抓取路径，且已移动至抓取点，因此可以提前触发Mech-Viz工程运行以规划下一轮路径，而不必等待放置完成后再触发Mech-Viz工程运行。

Mech-Viz工程一旦运行，在执行到“消息分支”步骤时，会等待MM_Set_Branch指令设置其分支出口。另外，“视觉识别”步骤（执行相机拍照）设置在“消息分支”步骤的某个分支上，因此相机此时并未执行拍照。 
!move to departure waypoint of picking
MoveAbsJ jps{3},v1000,fine,gripper1;
!move to intermediate waypoint of placing
MoveJ drop_waypoint,v1000,z50,gripper1;
!move to approach waypoint of placing
MoveL RelTool(drop,0,0,-100),v1000,fine,gripper1;

上述代码表示，机器人依次移动到抓取离开点（jps{3}）、中间过渡点（drop_waypoint）、放置接近点（RelTool(drop,0,0,-100)）。

!set branch exit port and trigger camera capturing when robot moves out of camera's field of view
MM_Set_Branch 1,1;

上述代码表示，机器人通过MM_Set_Branch指令设置“消息分支”步骤的出口。在该出口分支上，“视觉识别”步骤将被执行，Mech-Viz根据视觉识别结果提前规划下一轮抓取路径。

!move to placing waypoint
MoveL drop,v300,fine,gripper1;
!add object releasing logic here, such as "setdo DO_1, 0;"
Stop;
!move to departure waypoint of placing
MoveL RelTool(drop,0,0,-100),v1000,fine,gripper1;
!move back to robot home position
MoveAbsJ home\NoEOffs,v3000,fine,gripper1;

上述代码表示，机器人先移动到放置点（drop），然后进行放置操作（例如，setdo DO_1, 0;），然后依次移动到放置离开点（RelTool(drop,0,0,-100)）、Home点。

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