Hi @ben_van,
I plan on converting an STL model to G-code and get the robot to run a tool over the outer surface of the model in a pattern (and potentially specify this pattern/edit it). I thought the best method would be to generate a shell of the model in C-code.
Do you think this would work? I know the UpBoxes can distinguish the external surface of the model fairly easily.
Best,
Evie
@evie
So if I understand correctly, you want to generate a 3d contour for your model and export a G-code file to send to your robot that looks something like this?
and this will be performed by a script written in C?
I’m not sure what you’re referring to with the Upboxes. I don’t think any upbox software will help you. They use a proprietary file format (probably still G-code but who knows), and the toolpaths generated are in discrete slices along the z direction only.
Hi @ben_van
Yes something like that looks really good! What was used to make that? I think I was planning to try use python (and probably some C++), but I am planning to use ROS which can apparently read from G-code files and queue the instructions.
Yes I knew I couldn’t use the upbox system so that’s ok.
Thanks,
Evie
Yes something like that looks really good! What was used to make that?
Fusion 360 CAM was used to generate that toolpath – It’s very common to do operations like this in CNC machining.
I think I was planning to try use python (and probably some C++), but I am planning to use ROS which can apparently read from G-code files and queue the instructions.
So you need to feed GCODE coordinates (XYZ?) to ROS and that will calculate all the joint angles required to trace that path? Do you also need to ensure things like the tool always being normal to the surface?
For scripting, you might want to look into opencamlib, or perhaps Freecad’s implementation of it in the path workbench.
For opencamlib I see there are some examples directly using an STL surface as a source. There are also open-source 3d printer slicing tools that you can use in a script if those toolpath operations suit your needs.
I would suggest starting with Solidworks or Fusion360 CAM software to generate the gcode manually (through gui) and get everything else working how you want it first.
@ben_van Yes at the moment I will use MoveIT which needs all the obstacles defined to then calculate appropriate paths to get the robot to a chosen end effector target position.
Generally, I will need the tool either always normal or parallel to the surface depending on the tool.
Thanks!
Generally, I will need the tool either always normal or parallel to the surface depending on the tool.
We might need to have a look at extracting some more data when exporting in future then since xyz coordinates won’t be enough for this.
Definitely keep us updated on how things progress!
@ben_van Ok cool, thanks 
