Show Posts

This section allows you to view all posts made by this member. Note that you can only see posts made in areas you currently have access to.


Messages - Johannes @ Robots in Architecture

Pages: [1] 2 3 ... 37
1
Hello,

That's a tough questions. In general in the scientific field Python is popular, so learning it definitely does not hurt. For real-time stuff C++ is also useful.
Personally I mostly work in C# (which is also the language in which I wrote KUKA|prc) which I feel very comfortable with, in large part due to Visual Studio being such as nice IDE. I also transition very easily to Java (e.g. for the KUKA iiwa) and to a certain degree to JavaScript, because the languages are quite similar.
That being said, if you want to create your own robot logic, I wouldn't look as much at the language, than at the environment you want to work in. Because having a good geometric library and fast 3D viewport is really important. On the one hand, you have got Rhino itself of course (C# and C++), but you could also look at game engines like Unity (C#) and the Unreal Engine (C++). Unreal also has got a nice visual programming environment. Or you do it all in a browser with Javascript and Three.js, if you want to go that route.
So there really isn't a "best" language, I'd just go whatever feels best for you. The next KUKA|prc (no exact ETA) should make external scripting via C# quite a bit easier as well, but we haven't decided yet by how much we can open it up to users.

Best,
Johannes

2
Support / Re: Unwanted TCP motion at beginning and end of toolpath
« on: April 24, 2018, 10:33:42 PM »
Excellent!

Best,
Johannes

3
Support / Re: Problem calibrating turntable root point
« on: April 23, 2018, 07:58:10 AM »
Hello John,

I'm not sure that I contributed much, but I'm very happy that you were able to solve it, and really appreciate you sharing the steps you took!
By the way, the next KUKA|prc update, which I will probably upload in the second half of the week, will allow you to define a custom turntable geometry, by the way. So you can integrate your own turntable for collision checking!

Best,
Johannes

4
Support / Re: Problem calibrating turntable root point
« on: April 20, 2018, 11:08:18 AM »
Hello,

Well, the mastering of the turntable is important to set the right axis and therefore direction of rotation.
However, if you create an offset base - and don't flip the XY axes - Z should definitely be up.
So I would guess that with an calibrated offset base we should be much closer!

Best,
Johannes

5
Support / Re: Problem calibrating turntable root point
« on: April 19, 2018, 07:29:18 PM »
Hmm.. Did you also re-calibrate your offset system, just in case?
I would try to compare the physical and actual robot, i.e. put them both in the same axis position and then see where the robot thinks that it is in the Cartesian space.
That should give you an idea where the problem is.

Best,
Johannes

6
Support / Re: Problem calibrating turntable root point
« on: April 19, 2018, 03:55:58 PM »
Hello,

Sorry for not getting back to you before that, it's quite busy here with the start of the Rob|Arch registration etc.
What offset are you referring to? The offset base is simply a coordinate system that is placed in relation to the root point of the turntable, which means that it also rotates along with the turntable. A normal base would not do that, as it is fixed to the root point of the robot.
Regarding the axis direction, you can try the AXIS_DIR thingy from here: http://forum.robotsinarchitecture.org/index.php/topic,824.msg2131.html#msg2131
If it does not work, I can just switch the rotation direction of the turntable as well on the PRC side.

There isn't really a right or wrong with these things, just as some people use the X-axis as the robot's toolaxis, and some use the Z-axis.

Best,
Johannes

7
Support / Re: Problem calibrating turntable root point
« on: April 18, 2018, 07:59:05 AM »
Hello,

Can you check if the positive rotation direction is the same on both the simulation and the actual turntable?
I guess that it might be going in different directions.

Best,
Johannes

8
Support / Re: Problem calibrating turntable root point
« on: April 17, 2018, 06:00:34 PM »
Hello,

Is the turntable synchronizing correctly, i.e. the robot's tool keeping its position in relation to the turntable when you're moving E1 (in a Cartesian movement mode, after having calibrated and activated an offset base)?
If that is the case we can also simply adjust the turntable model in KUKA|prc. Or you could simply add 180 to -179 and see if that works.
But before we proceed to PRC, it's important that the calibration is right, otherwise we're accommodating a broken calibration through software, which usually leads to more problems down the road!

Best,
Johannes


9
General Discussion / Rob|Arch 2018 Registration is Open!
« on: April 17, 2018, 07:48:27 AM »
Hello Community,

We'd like to inform you that the registration for the upcoming Rob|Arch 2018 conference at ETH in Zurich, Switzerland is now open at http://www.robarch2018.org/registration/
It will again consist of 3 days of intensive, hands-on workshops and two days of scientific conference sessions. Both parts can be booked separately, though we of course recommend attending a workshop first and then exchanging ideas and experiences at the conference, with its presentations as well as social events!

Currently there is still "early bird" pricing in effect, it will get more expensive closer to the event. Members of the Association for Robots in Architecture get a special, reduced fee. Send an eMail to robots@robotsinarchitecture.org with the names of the people who will be attending. We can provide a maximum of 5 reduced registrations per regular member, and 1 reduced registration per student member.

We hope to see many of you at Rob|Arch in September!

Best,
Johannes
- on behalf of the Rob|Arch conference team

10
General Discussion / Re: BCO Motion Error (1058)
« on: April 17, 2018, 07:41:11 AM »
That's great, thanks for sharing the solution! Hibernate saves the current data on the hard drive, so a BIOS reset wouldn't delete it. I've disabled hibernate on all my robots so that they cold-boot all the time.

Best,
Johannes

11
General Discussion / Re: BCO Motion Error (1058)
« on: April 14, 2018, 03:33:19 PM »
Hmm... I never had that problem, so I'm just making guesses: You might want to check if a button is stuck. That hasn't happened to me ever, but as you tried everything else I would have recommended (the "official" troubleshooting and rebooting, not sure if it's a good idea to reset the BIOS for every error) I'd push the Start plus and minus buttons a few more times with a bit more force, just in case. Also the green button on the back!
Then change into a higher user group and activate the Start-Up mode (where it overrides the X11 safety, but only allows T1), just to see if it changes anything when you run a program.
Finally, go into the safety settings, change something and then change it back, as BCO is a safety-relevant feature maybe it helps.
Last idea: Select a program and then do block selection on an axis movement - could be just the first axis movement, or another one further down.

If that doesn't help, get in touch with the KUKA hotline, they are usually really quick with those obscure problems.
Please let us know what helped!

Best,
Johannes

12
I know this is a bit embarrassing, but I usually do these things by trial and error.
I'm honestly not sure why C=90, but that's what KUKA sets in WorkVisual and also - if I remember correctly - worked in my lab.
There is a manual for external axes - to be found e.g. here: https://www.kinematics.com/ftp/SA/Install/Driver%20Downloads/Robots/SARobotDriver%20Kuka%20Deployment%202014.08.13/KUKA%20KRC2%20Configuration/Important%20Docs/KSS_55_external%20axis%20setup%20and%20programming.pdf
On page 102 it shows the transformation for a two-axis positioner quite nicely, where you first rotate -90 around B for the horizontal axis and then rotate back +90 degrees for the "vertical" axis on top.

So more logical would be to set B to 180, so that the Z axis flips around. Or just leave it at all 0.

Alternatively in $machine.dat there is a $AXIS_DIR variable, where you could set $AXIS_DIR[7] to either 1 or -1

I'd just give those things a try!

Best,
Johannes


13
Hello,

I think the issue is that your turntable axis is facing the opposite direction of what KUKA|prc is expecting. So you're basically compensating for the rotation of the turntable with the robot.
If you look into the $machine.dat, what is your $ET1_TA1KR value?
The default for a KP1-V500 turntable seems to have C at 90 and all other values at 0.

Best,
Johannes

14
Support / Re: Converting E6POS with S/T to E6AXIS
« on: April 12, 2018, 04:45:16 PM »
Awesome!
Keep us updated!

15
Support / Re: Converting E6POS with S/T to E6AXIS
« on: April 11, 2018, 04:12:24 PM »
Hello,

I'm sorry for the late reply, I wasn't in the office the past days.
In the KUKA|prc settings you can enable the Analysis output. Then attach the Analysis component to the output, and you get access to the axis position of every movement, so that you can e.g. stream it with a custom RSI client!

Best,
Johannes

Pages: [1] 2 3 ... 37