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Messages - Johannes @ Robots in Architecture

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16
General Discussion / Re: Milling on Mutiple surfaces
« on: June 30, 2018, 05:15:48 PM »
Hello,

What exactly should be the result?
Do you want to do surface finishing, or roughening?
Even with a dedicated CAM software there are countless ways to mill such a piece, and with GH you have even more freedom.
If you just want to cut from above with a fillet, you e.g, need a very long tool. The alternative would be to cut with a multi-axis process, which then needs more complex movement strategies.

As a simple example I've expanded the surface milling file that I sent you to work with multiple surfaces. See the attached files. Reachability is then of course a problem, in particular if you do not have a turntable.

Grasshopper is very powerful, but decades of expertise have gone into CAM software, so unless you want to fabricate 20 parametric, filleted boxes, a CAM software may be the easier solution for your problem.
In the member version of KUKA|prc you can take G-code from the free/cheap Autodesk Fusion and turn it into robot code, which we often use with students.

Bet,
Johannes

17
Support / Re: Programmatical robot start position
« on: June 30, 2018, 05:01:19 PM »
Hello,

I've sent you an eMail with a special release. It does not contain an installer, simply overwrite the files.
If you now enter "NaN" instead of the default "5" as the A01 value of the startposition it will ignore the startposition.
Take care to provide your own axis value as the first command, otherwise many subsequent steps will fail.
In the file output, you still need to delete the [STARTAXPOS] line, otherwise it will show up in the KRL output.

Please let me know if it works, it will then be included in the next general release!
Best,
Johannes


18
Support / Re: Programmatical robot start position
« on: June 29, 2018, 07:13:10 PM »
Hmm.. I understand your challenge, but I really don't want to implement that option, as it's bound to confuse people which may lead to expensive mistakes.
Personally I'm tending towards a hidden option, e.g. if you set the E4 of the start-position to -48123 it will ignore it. Would that work for you?
Best,
Johannes

19
Support / Re: Fusion 360 NC Import
« on: June 29, 2018, 07:08:34 PM »
Hello,

The issue should be fixed in today's release, available in the member section!

Best,
Johannes

20
Support / Re: Some Kuka|prc settings not saved in .gh
« on: June 29, 2018, 07:08:02 PM »
Hello,

Please take a look at today's release, it should now properly save those values.

Best,
Johannes

21
Support / Re: Programmatical robot start position
« on: June 29, 2018, 02:45:52 PM »
Hello,

For a reliable simulation the KUKA needs a clearly defined movement at the beginning, so I don't want to change it.
That being said, what stops you from adding your own axis movement at the beginning? Going from axis movement to axis movement is clearly defined, so even if your simulation shows one additional movement at the beginning, it won't change the rest of your simulation if you add your own start position afterwards. Just the time will be slightly off, but that is an approximation in any case. You can also simply subtract the time for the first movement from the total, if that is a factor for your optimization.

Best,
Johannes

22
Support / Re: Some Kuka|prc settings not saved in .gh
« on: June 29, 2018, 11:40:04 AM »
Hello Antoine,

Thanks a lot for letting me know, I have just fixed that issue, I'll try to upload a new version today!

Best,
Johannes

23
Support / Re: Programmatical robot start position
« on: June 29, 2018, 11:25:19 AM »
Hello Antoine,

To get rid of the start position in the code, you can go to Settings/Advanced/Code and then untick the "Use robot-internal code pattern". Then simply get delete the STARTAXPOS line.
It will still show up in the simulation, but not in the code.
Does that help?

Best,
Johannes

24
Support / Re: Custom End Effector
« on: June 26, 2018, 07:17:14 PM »
Hello,

We are still waiting for the disruptive start-ups that sells a range of customizable, robotic tools!
So most people are building their own prototypes...
At least with PLA printers there is much know-how (and products) to be found online, so you mostly need to figure out how to connect it with the robot, rather than building all parts from scratch.

Best,
Johannes

25
Hello,

Dynamic frames doesn't really ring a bell, maybe he referred to calibrating a turntable base as an offset system, rather than a normal base?
But great to hear that you got it to work!

Best,
Johannes

26
Support / Re: why the B is always 90?
« on: June 25, 2018, 04:15:05 PM »
Well, the "tool axis" of the plane is Z, and the robot-tools's X-axis gets mapped to the plane's Z-axis, hence the rotation around Y (the B-value).
Best,
Johannes

27
Support / Re: why the B is always 90?
« on: June 25, 2018, 07:49:12 AM »
Hello,

We use X as the tool axis.
There is a somehow hidden way to switch it to Z, but I don't really recommend that.

Best,
Johannes

28
General Discussion / Re: Real-time Programing
« on: June 25, 2018, 07:41:36 AM »
Here's a quick example showing basic usage.
Regarding the post from before, we're working on an example at the moment, I cannot give you a exact timeline yet. But I'm happy to answer questions that you might have!

Video tutorials are always great!!

Best,
Johannes

29
General Discussion / Re: Real-time Programing
« on: June 24, 2018, 12:18:36 PM »
Hello,

With mxAutomation you've got a buffer of selectable size and everything that hasn't been passed into the buffer yet is parametric.
We can attach a simple distance sensor, get the position of the robot and the captured distance and then make up a 3D model, based on which we decide the next fabrication step.
For hard real-time, e.g. adjusting the pressure of the robot based on a force sensor, there is the KUKA Realtime Sensor Interface (RSI), which does not need an external CAD system, though - you could just activate it through a Custom KRL component.

Best,
Johannes

30
Hello,

I talked with Leoni at Automatica a few days ago, they support a variety of protocols from very generic to specific like Devicenet.
So I'd recommend getting in touch with their representative for details, it seemed like a flexible system!

Best,
Johannes

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