New Video Added
Video #2 shows a more complex end effector. Fingers can be changed to accomodate glass shapes of similar size.
Robot is a Kawasaki EX100 with a Camsoft Lite retrofit.
I can't imagine how you would program something like that. I assume its some sort of generic/industrial interface for doing just that. Its very cool to see someone applying computer skills to a demanding field such as glass. How long dose it take to program a sequence such as in the first video? I assume you have to start from scratch for each new shape.
I work in ceramics (at Alfred University), right down the hall from glass, and I've recently been adapting cold working techniques to my work. I'm getting close to purchasing a cnc router table so I can try grinding/milling ceramic materials.
BTW, do you have any photos of work made with your machine?
You can search the www for Robot Offline Software.
It is similar to 3 axis routers in that you have a machine, the motor power supplies, the motor control software, and motion programming software with the CAD built in.
The machine is from a Toyota factory in Kentucky and almost 20 years old. The controller is archaic so I did a retrofit with CamSoft. They advertise on this site so you can find them easily.
Then you need to find some offline programming software that is made for robots. The math is more involved for linked angles that make up an arm so a CNC 5 axis program won't work for a 5 axis robot.
The work environment is constructed in a virtual world within the simulation software, so you don't need additional CAD program. You can usually import shapes from other CAD software, but the best way is just to work within the one program.
A virtual shop is constructed in the simulation software. You either use a premade robot model or construct you own, then add the machines it will interact with. A shape or just a location that represents a plane for the vessel opening is also added to the robot arm the same way cutting tools are defined in CAM programs. How long is the workpiece, and its orientation to the robot end effector.
When you click on the saw blade, the rendered arm moves into position based on criteria previously determined. The move can be point to point, or an arc. The machine can move in paths defined as Tool, World, Cartesian or Joint. The moves can be cylindrical or spherical. So many choices! The movement is saved as joint values, which are saved to a G code text file to be read by the CamSoft program.
It is not possible to just click on the object to be shaped and have the whole surfacing program done for you the way some CAM programs work.
There is a lot of hand editing before things get done.
If you search online, you can find a few demo programs to play with. The purchase price varies from under $100 to over $10k.
After the grinding machine locations are defined, the programming isn't too bad. Everything has to be tested one move at a time and tolerances measured just to make sure. That takes the longest. Then the whole program is tested without any glass or cutting blades involved. If the 3700 pound arm bumps the sander, the sander gets knocked to the floor. Not quite the same as gouging a piece of basswood with a router bit.
Thanks for the video.
Wow, that's not as archaic as I thought. I imagined you programing line after line of numbers in dos. That program looks windows based.
BTW, what sort of positioning accuracy do you get with your arm?