AIMEN's LMD robotized laser cell has been integrated to be fully operaded in an automatic way. A ROS driver has been implemented for an on-line control of the Laser Metal Deposition process.
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Software shared in OpenLMD is intended for research, even so, it is being tested on an industrial facility. |
Introduction
The ROS driver has two nodes, one publishes the instantaneous position
(robot_logger) of the robot and another listens commands
(robot_server) to control the robotized cell.
In the robot side a multitask was programmed in RAPID to send joint states
(LOGGER) and other to read commands (SERVER_command)
using a TCP/IP socket connection. Moreover, one aditional task is used for
the execution of movements (SERVER_motion). In this way, two
tasks are always running in the background to communicate with the PC, while
the other is only activated when the system must run.
All the elements present in the laser cell was integrated with the robot controller to provide a common interface for a full LMD control automation. Thus commands abstraction is provided to operate the system from the ROS side with independece of the equipment present in the facility. This set of commands was called JASON because their syntax is JSON.
{"tool": [[246.2, -20.3, 432.0], [-0.5000, -0.0000, 0.8660, -0.0000]]}
{"workobject": [[1550.0, -178.0, 930.8], [1.0000, 0.0000, 0.0000, 0.0000]]}
{"laser": true}
{"power": 1000.0}
{"carrier": 5.0}
{"turntable": 4.0}
{"stirrer": 20.0}
{"speed": 50}
{"move":[[-50, -50, 125], [1.0, 0.0, 0.0, 0.0]]}
{"move":[[0, -25, 100], [1.0, 0.0, 0.0, 0.0]]}
{"powder": true}
{"wait": 1}
{"speed": 8.0}
{"move": [[15, 5.0, 21.0], [1.0000, 0.0000, 0.0000, 0.0000], true]}
{"move": [[15, 40, 21.0], [1.0000, 0.0000, 0.0000, 0.0000], false]}
{"speed": 50}
{"move": [[0, 0, 125], [1, 0, 0, 0]]}
{"powder": false}
{"move": [[-50, -50, 125], [1, 0, 0, 0]]}
{"laser": false}
Example of LMD routine programmed with JASON commands.
Digital Twin
Getting Started
You only must install ROS and clone OpenLMD projects on your computer.
When the instalation have been completed, you only need to download any bag file availble on ZENODO to test the software.
$ roscore$ rosrun rosbag play file.bag --clock$ roslaunch aimen_workcell workcell.launch sim:=true
Contact
Verónica Panadeiro-Castro (veronica.panadeiro@aimen.es)
Baltasar Lodeiro-Señarís (baltasar.lodeiro@aimen.es)
Jorge Rodríguez-Araújo (jorge.rodriguez@aimen.es)
Copyright 2016-2017 - AIMEN Technology Center