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Phase 4: Advanced Motion Control - Complete Implementation
Implements professional-grade trajectory planning and execution capabilities
for industrial robotics applications. Adds velocity profiling, geometric
motion primitives, path blending, and coordinate frame transformations.
Features Added:
- Velocity profiling (trapezoidal and S-curve profiles)
- Geometric motion primitives (arc, circle, spiral)
- Path blending with cubic Hermite spline interpolation
- Coordinate transformations (BASE/WORLD/TOOL/WORK frames)
New API Methods (MotionAPI):
- generate_velocity_profile(trajectory, max_velocity, max_acceleration, profile)
- generate_arc(center, radius, start_angle, end_angle, steps, plane)
- generate_circle(center, radius, steps, plane)
- generate_spiral(center, start_radius, end_radius, pitch, revolutions, steps, plane, axis)
- blend_trajectories(traj1, traj2, blend_radius, blend_steps)
- transform_coordinates(pose, from_frame, to_frame, frame_offset)
Helper Functions:
- _calculate_distance() - Euclidean distance between waypoints
- _trapezoidal_profile() - Bang-bang velocity control
- _s_curve_profile() - Jerk-limited smooth profiles
- _find_blend_point() - Locate blend zone boundaries
- _cubic_blend() - Cubic Hermite spline interpolation
Examples Created (examples/advanced_motion/):
- 01_velocity_profiles.py (234 lines) - Trapezoidal vs S-curve profiling
- 02_geometric_primitives.py (225 lines) - Arc, circle, spiral patterns
- 03_path_blending.py (253 lines) - Smooth trajectory transitions
- 04_coordinate_transforms.py (284 lines) - Frame transformations
- 05_combined_motion.py (336 lines) - Complete production application
- README.md (584 lines) - Comprehensive documentation
Documentation:
- PHASE_4_SUMMARY.md - Detailed implementation documentation
- Updated ROADMAP.md to mark Phase 4 complete
- Comprehensive API documentation in examples/advanced_motion/README.md
Files Modified:
- src/RSIPI/motion_api.py (~550 lines added)
- ROADMAP.md (updated Phase 4 status)
Files Created:
- PHASE_4_SUMMARY.md
- examples/advanced_motion/ (6 new files, 1,916 total lines)
Statistics:
- New API methods: 5 public methods + 4 helper functions
- Example code: ~1,332 lines
- Documentation: ~584 lines
- Total additions: ~2,466 lines
Production Applications:
- Drilling and milling (expanding/contracting spirals)
- Assembly (circular insertion, smooth approaches)
- Inspection (spiral scanning, circular features)
- Welding/coating (continuous beads, smooth transitions)
- Pick and place (optimized cycles, blended paths)
Phase 4 Status: ✅ COMPLETE
Date: January 17, 2026
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2026-01-17 01:38:48 +00:00 |
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Implement Phase 3: KRL Coordination
Complete implementation of Python-KRL coordination features for seamless
bidirectional communication between RSIPI and KUKA KRL programs.
## IOAPI Enhancements
Added high-level I/O control methods for convenient digital I/O manipulation:
- **set_output(channel, value, group='Digout')** - Set digital output by channel number
- **get_input(channel, group='Digin')** - Read digital input by channel number
- **pulse(channel, duration=0.1, group='Digout')** - Generate timed pulse on output
Benefits:
- Simpler channel-based addressing (channel 1 instead of 'Digout.o1')
- Automatic channel name formatting
- Built-in pulse generation for pneumatic actuators and signaling
- Consistent error handling
## KRLAPI Enhancements
Added coordination helper methods for Python-KRL synchronization:
- **wait_for_signal(channel, timeout=5.0)** - Block until KRL sets I/O signal
- **signal_complete(channel)** - Signal KRL that Python operation is complete
- **write_param(slot, value)** - Write to Tech.C variables (Python → KRL)
- **read_param(slot)** - Read from Tech.T variables (KRL → Python)
Features:
- Configurable timeouts with proper error handling
- Flexible slot addressing (11, 'C11', 'c11' all work)
- Slot validation (enforces 11-199 range)
- Comprehensive logging for debugging
- Clear docstrings with KRL code examples
## KRL Template Library
Created comprehensive KRL templates demonstrating coordination patterns:
**templates/krl/basic_handshake.src**
- Simple I/O handshaking (KRL signals → Python waits → Python signals back)
- Timeout handling and error recovery
- Complete Python code examples in comments
**templates/krl/parameter_passing.src**
- Bidirectional Tech variable communication
- KRL writes position to Tech.T, Python reads
- Python calculates target, writes to Tech.C, KRL reads
- Demonstrates full parameter exchange workflow
**templates/krl/state_machine.src**
- Multi-state coordination workflow
- States: IDLE, CALIBRATING, READY, EXECUTING, COMPLETE, ERROR
- Combines I/O signals and Tech variables
- Error handling and timeout mechanisms
- Demonstrates complex production-ready pattern
**templates/krl/README.md**
- Comprehensive coordination patterns documentation
- Tech variable mapping conventions (C vs T variables)
- I/O signal mapping standards
- Timing best practices
- Troubleshooting guide
## Python Coordination Examples
Created production-ready Python examples demonstrating all coordination methods:
**examples/coordination/01_basic_handshake.py**
- Simple I/O handshake demonstration
- Matches basic_handshake.src template
- Command-line interface with argparse
- Comprehensive logging and error handling
**examples/coordination/02_parameter_passing.py**
- Parameter exchange workflow
- Reads position from KRL (Tech.T)
- Calculates target position
- Writes target to KRL (Tech.C)
- Matches parameter_passing.src template
**examples/coordination/03_state_machine.py**
- Complex multi-state coordination
- State monitoring loop with enum
- Calibration routine with offset calculation
- Error detection and signaling
- Matches state_machine.src template
**examples/coordination/README.md**
- Complete usage instructions
- Configuration requirements
- Troubleshooting section
- Customization examples
- Advanced usage patterns
## Modified Files
src/RSIPI/io_api.py:
- Added time import
- Implemented set_output() method
- Implemented get_input() method with navigation of receive_variables
- Implemented pulse() method with blocking time.sleep()
- Comprehensive docstrings with examples
src/RSIPI/krl_api.py:
- Added time import
- Implemented wait_for_signal() with configurable polling
- Implemented signal_complete() method
- Implemented write_param() with slot normalization and validation
- Implemented read_param() with slot normalization and validation
- KRL code examples in all docstrings
## New Directories
templates/krl/
- 3 KRL program templates
- Comprehensive README with patterns and conventions
examples/coordination/
- 3 Python example scripts
- Complete usage documentation
## Design Decisions
**I/O Channel Numbering**: 1-based to match KUKA conventions
**Tech Variable Slots**: Validated 11-199 range (KUKA reserves 1-10)
**Blocking Operations**: wait_for_signal() and pulse() block with configurable timeouts
**Error Handling**: Proper exceptions with clear messages
**Logging**: Debug/Info/Warning levels for all operations
**Documentation**: Every method includes KRL code examples
## Phase 3 Status: ✅ COMPLETE
All planned features implemented:
- ✅ High-level Digital I/O API
- ✅ KRL state coordination helpers
- ✅ Parameter passing via Tech variables
- ✅ KRL code templates
- ✅ Python coordination examples
- ✅ Comprehensive documentation
Next: Phase 4 (Advanced Motion Control)
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2026-01-17 00:38:32 +00:00 |
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