From 9f23d04833c501dbbbc5d7bf6488fa910eee0b38 Mon Sep 17 00:00:00 2001 From: Alejandro Colomar Date: Sat, 20 Mar 2021 13:36:27 +0100 Subject: Add README Signed-off-by: Alejandro Colomar --- README.rst | 29 +++++++++++++++++++++++++++++ 1 file changed, 29 insertions(+) create mode 100644 README.rst diff --git a/README.rst b/README.rst new file mode 100644 index 0000000..63bb107 --- /dev/null +++ b/README.rst @@ -0,0 +1,29 @@ +This is a fun project, written in a morning during the Smart Manufacturing +and Robotics Delft Minor . + +It is a demonstrator of how powerful the code in my libalx library + is. + +The history behind this is that I hated both the GUI and the scripting +language that the robot (a Universal Robots UR-5) used. So that morning +we had a bit of free time, and I decided to intercept the communications +between that GUI and the robot. I found out that it was using very simple +TCP messages, which I tried to replicate with telnet. + +On the first attemnpt I got a succesful login, and a message printed on +the screen of the robot; great! Then I tried sending as plain text some +of the commands that we learnt in that Python-based scripting language; +I moved the robot! And just after a few minutes! + +Then I had a call with a friend of mine in Spain, and I told her about what +I was doing with the robot. She asked me to come up with something nice. +And so I decided to write a heart for her :). I wrote a library interfacing +the basic movement commands of the robot to a set of simple C functions +in a copule of hours, got the coordinates of a few points in the whiteboard +next to the robot, wrote a program to move the robot to those points in +a few minutes (thanks to the simplicity of the library I wrote just before), +and the most difficult part: sticked a pen to the hand of the robot. + +Then I run the code, the results of which are in the video +. +Great morning of hacking! -- cgit v1.2.3