CableRobot

CableRobot is trajectory planner and execution controller for cable robot in Innopolis University

Depends on OmronFinsUDP.Net library

Has basic support of hpgl file format (HpglParser.cs) and VERY basic support of SVG format (SvgParser.cs)

Also this introduces own vector file format (an intermediate one) - CRC. CableRobotTrajectories contains some samples of such files

A brief algorithm of work:

• Stage 1, TrajectoryForm.cs 0. Parse Svg or Hpgl and convert it to crc

  1. Parse Crc to Commands (CrcParser.cs, Command.cs and CommandType.cs)

  2. Convert commands to robot movements (coordinates) (CoordinateComputer.cs)

  3. Use inverse kinematics to compute Angles of motors for points (InverseKinematicsComputer.cs) (!BROKEN!)

• Stage 2, RobotControllerForm.cs

  1. Use OmronFinsUDP.Net library to write these angles to robot (RobotController.cs, AngleSender.cs)

Extra notes

High CPU comsumtion on Windows

If you are running windows this program will use busy sleep to improve timings

The math is (most probably) broken

There were no enough time to test and debug program, but InverseKinematicsComputer.cs does something wrong. Use some matlab models to test it before running on real robot