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Messages - Johannes @ Robots in Architecture

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1
Hello,

We tried to make a replacement for each of those examples, please take a look at the Tutorials board at http://forum.robotsinarchitecture.org/index.php/board,2.0.html
Let me know if you are missing any specific information!

Best,
Johannes

2
Support / Re: KRC2 Cross3 start up program unable to start
« on: January 21, 2018, 09:52:06 PM »
Hmm... Never had that happen, it looks rather serious, I would probably call the KUKA hotline for advice, maybe there is an easy fix. If you or one of your colleagues/students speaks German, consider calling the German hotline, it's free during German office hours: https://www.kuka.com/en-at/services/technical-hotline-consulting
If they don't have any advice beyond getting a service technician, I would make an image of your HDD (just in case) and if available load an older image or just re-install the KUKA software.

Best,
Johannes

3
Support / Re: KUKAprc for Dynamo
« on: January 09, 2018, 07:56:49 AM »
Hello,

It is quite a lot slower on Dynamo because the Dynamo 3D engine is rather basic (WPF / Helix). That being said it did not feel super slow to me, unless you import a huge NC file. Can you give me some performance numbers (e.g. how long a solution takes) for me to compare with?

However I have been working on bringing PRC for Grasshopper and Dynamo on a common codebase over the holidays, so that they use exactly the same libraries and thus implement new features and robots in parallel- until now it was basically a branch. It also improved the speed and added several new features, and it will make support for new platforms like Grasshopper 2 a matter of hours.
I don't know how quickly it will be possible to push out the new release for both GH and Dynamo - probably there will be an early beta in 2-3 weeks.
We also saw some people having issues with Dynamo complaining about missing libraries. We haven't quite figured out the exact reason why it works on most Win7/8/10 PCs but not all of them, but the new versions seems to have reduced - and ideally solved, but we'll only know this after more external feedback - these issues.

Best,
Johannes

4
General Discussion / Re: Excess of poly
« on: January 04, 2018, 05:17:00 PM »
Sure! Preferably via eMail, though!

5
General Discussion / Re: Excess of poly
« on: January 04, 2018, 04:14:54 PM »
I would guess that the issue is less the 4-point method (that gets you the XYZ coordinates), but the ABC angle of the tool.
If I want a really accurate result, I usually calibrate the XYZ tip of a very long tool and then a very short tool, get the tool axis as a vector, and then use that information to calculate the ABC angle. Geometrically that only works with processes that are symmetrical around the tool axis.

The metal stand should not really matter, as you are calibrating a base anyway.
...and of course the easiest explanation of them all is that the stock simply moved!

Best,
Johannes

6
General Discussion / Re: Excess of poly
« on: January 04, 2018, 03:39:18 PM »
Hmm... If I understood the issue correctly, hat sounds to me like a calibration problem.
They don't show up with 3-axis milling, but with 5-axis milling (or 3 axis from both sides) these problems become more apparent.
I guess that the XYZ calibration is good, so I would look at the ABC tool angle and of course the mastering of the robot itself.

Best,
Johannes

7
Hello,

For our experiments with incremental sheet forming (using PET, not metal) we went the other, easier way and designed a form, which then defined the toolpaths. See e.g. at a workshop in Shanghai: https://vimeo.com/158804677
Approximating material behaviour in parallel to the simulation might work with Kangaroo, but I wouldn't expect to achieve an accurate simulation, as the material interactions are really complex. E.g. with PET, heat was a very significant factor, which you cannot really simulate that well in realtime.
The nicest approach towards material simulation of incremental sheet metal forming are the machine learning strategies that Mateusz developed for "A Bridge Too Far" at CITA. The disadvantages as with all ML being that you first need to collect plenty good data.

Let me know if you need any specific data from PRC to link it with your material simulation!
Best,

Johannes

8
General Discussion / Re: Need help identifying a remote control
« on: December 28, 2017, 01:02:08 PM »
Hello Rajesh,

Sorry, but we don't really work with combat robots here, our focus is on industrial robots.
But I'm sure that there are dedicated forums for such a topic where someone will be able to recommend a specific remote.

Best,
Johannes

9
General Discussion / Re: Where I can purchase a gripper for KUKA KR6?
« on: December 25, 2017, 04:33:15 PM »
Hello,

You can buy grippers from companies such as Schunk, simply get in touch with a representative!
That being said, if you do not have highly special requirements and are working on a budget, the cheap way is simply to look on eBay, where you can get grippers for a fraction of the price, 50EUR should be a good budget for anything a KR6 can move around.
From my personal experience, take care to check the spec sheet properly, I once purchased a gripper that turned out to be the size of a matchbox ;)
Similarly, I've got one that weighs 10kg - I knew what I was getting into that time, but was still somehow astonished when I saw it "in person".

In addition you will need a compressor, because electronic grippers are much (MUCH!) more expensive and harder to find used than pneumatic ones. But as a gripper does not need much air, it does not have to be fancy, as it will hardly be running. If noise is an issue, go for an airbrush compressor. Otherwise you can get cheap workshop compressors at any DIY store.
Your KR6 has got integrated valves, though you may need to purchase fittings if they were not included, e.g. from M5 threads on the Agilus to 6mm tubing that leads to the gripper (see e.g. http://content2.smcetech.com/pdf/KQ2-Dd_EU.pdf). You may also need to purchase fittings for the gripper as it may only have threaded holes where you attach the air.
I mostly buy fittings etc. at SMC or Festo, they both have online stores where they also sell in small numbers.

Finally, you may need to configure your integrated valves in WorkVisual (though they may be pre-configured anyway). In KUKA|prc you simply need to trigger the outputs of the valves. Some grippers only need one air supply as they come with a spring to reset it, others will need one air supply to open the gripper, and another tube to close it.

...and one more thing: There isn't some kind of standardized mount for grippers, so you will need to cut/drill/mill/3D print an adapter to mount the gripper on your robot. My suggestion would be to mount it normal to the flange, if you are doing brick stacking.

Hope that helps!
Best,
Johannes

10
Support / Re: Pocketing sequence
« on: December 23, 2017, 07:28:09 PM »
That sounds awesome!!
For me it's mostly research proposals over the holidays, probably no hands-on stuff!
Enjoy!

11
Support / Re: Pocketing sequence
« on: December 22, 2017, 07:27:51 PM »
Hello,

So you mean having stepdowns?
See the attached example!

To reverse the direction, simple use the Reverse List component to do so!

Best,
Johannes

12
Support / Re: kuka|prc compatible with krc1?
« on: December 17, 2017, 09:25:15 PM »
Hello,

Can you send me an example what you are referring to? Either post it here, or send me an eMail (johannes@robotsinarchitecture.org)
How are you generating your CIRC motions?

Best,
Johannes

13
Support / Re: Visual Studio, Grasshopper, and KukaPRC DLL Error
« on: December 15, 2017, 07:36:55 AM »
If you go to Tools/Options/Debugging in Visual Studio you should see an option to exclude "modules". I believe this is where you exclude dlls!
Best,
Johannes

14
Support / Re: Visual Studio, Grasshopper, and KukaPRC DLL Error
« on: December 14, 2017, 08:16:11 PM »
Hello,

That is strange, because I'm often developing separate components in GH and did not come across that. I remember it from the old PRC (i.e. 4 years or so ago) where we had a somehow overzealous obfuscation software.
I'll look into that early next week - in the meantime you could try to exclude VS from automatically loading the PRC dlls.

Best,
Johannes

15
Support / Re: KRC2 will not master all of the sudden
« on: December 13, 2017, 07:32:51 PM »
The ancient solution to at least 25% of all problems ;)
An unmastered robot cannot move in Cartesian mode, so you do not have to worry about that. If the robot loses its calibration (e.g. if it is mishandled while shut down, and the axis position from before the shutdown do not match up with the current position) you will get an error message.
However it is strange that it forces you to master all axes, I believe that I always had to manually unmaster an axis, if I wanted to master an axis that the robot considered to be correctly mastered.
If your robot is always unmastered after you power it on for the first time, there is probably an issue with your RDW.

Best,
Johannes

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