by Shih-Yuan Wang, Yu-Ting Sheng, Florian Frank
Taco offers users to program and visualize HIWIN robots with parametrics. The current and main features include:
Stream Task Files
Read Robot Position
Custom tool definition
Custom speed settings
Custom HRB commands
HIWIN RA620-1739 robot definition
Robot simulation
To install:
1. In Grasshopper, Choose File > Special Folders > Components Folder. Save the gha and dll file (hiwinGetPos, hiwinUpload, and HRSDK)there.
2. In Grasshopper, Choose File > Special Folders >User Objects Folder. Save the gha file (Inverse Kinematics Solver_HIWIN, HIWIN RA620-1739, Home_HIWIN, Flip TCP_HIWIN, Construct TCP_HIWIN, Tooldata Definition_HIWIN and RobotPosToPlane)there.
3. Add Additional Path (...Grasshopper/Libraries) to Environment Variables.
"The use of TACO is at your own risk as it is a free software. We accept no responsibility for damage or injury! Please check the HRB code carefully before uploading."
About HIWIN ROBOT:
https://www.hiwin.tw/products/mar/multi_axis_robot_list.aspx
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