I developed an application that places itself just before controlling the robot (CAD/CAM like application) and now I want to control my robot directly within the application.
Typically I have two choices when working with this industrial arm robot (I'm using a Stäubli robot in this case) :
- I either use the manufacturer solution, and write programs with its own language and software that will just get a trajectory and perform the trajectory the way I want it by itself. So I'm just sending a trajectory file to the robot controller and then the robot is autonomous
- Or I create the whole model by myself (or most likely using pre-existing general solutions) to simulate the robot's behavior first and stream the joints in real time to the robot to control it.
What would be the best choice here ? Should my application just
- integrate a communication protocol that just sends a trajectory file to the robot and only gets the robots position during functioning time
- or fully control the robot from within my application and send joints positions to the robot?
What is the best technical option here?