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Messages - Johannes @ Robots in Architecture

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481
Member Section / Important Information for Members
« on: September 19, 2013, 02:15:03 PM »
In order to see the member section, you have to be tagged as a member. If you or your institution are members of the Association for Robots in Architecture, please register at the forum and send an eMail with your chosen username to johannes@robotsinarchitecture.org
We will then add you to the Member group!

Thank you!

482
Support / Re: Best way to create a milling toolpath w/combo of LIN and CIRC?
« on: September 19, 2013, 01:58:40 PM »
Hello,

I've posted an example in the Tutorials section, see http://forum.robotsinarchitecture.org/index.php/topic,24.0.html
It takes a curve and parametrically divides it into arcs and lines, depending on the angle of the arc's three points.

Just note that you may need the KUKA|prc Trial version that we're going to post later today to work with the file!

Best,
Johannes
Association for Robots in Architecture

483
NOTE: This example uses an older version of KUKA|prc!



Title: Parametrically dividing a NURBS curve into linear and circular movement commands
Level: Advanced
Description: Divide a NURBS curve into linear and circular movements, reducing file size and improving interpolation compared to a long sequence of just linear movements.
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc

484
Tutorials / Example: Spline and Circular Movements
« on: September 19, 2013, 01:23:18 PM »
NOTE: This example uses an older version of KUKA|prc!



Title: Using Spline and Circular Movements
Level: Basic (spline), Advanced (circular)
Description: This example shows you how to use the spline command and one way to approximate a curve with arcs (e.g. for older robots that do not support spline movements)
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc

485
Support / Re: Point-to-Point Movement causing jerky Robot Movement
« on: September 13, 2013, 07:57:23 PM »
Hello Jackson,

Below is the reply that I sent to Melissa regarding that issue:

The robot always interpolates between positions. In the case of KUKA|prc, the default interpolation method is C_DIS (at the end of every command), meaning that it interpolates by distance. At a certain point between two points, the robot will start deviating form the direct path to achieve a smooth motion. Things you can do to make it smoother: At the beginning of the KUKA|prc code, add a custom KRL component with a text input of "$APO.CDIS=25" - the would mean that once the robot is 25mm away from the end point, it may deviate from the set path. Another way would be to replace all C_DIS with C_VEL - with C_VEL referring to an interpolation that tries to achieve constant velocity. You can set the amount in percent via $APO.CVEL. For now, you would have to do the replacing either via Grasshopper text tools or - more reliably - with a text editor. Giving users the choice between C_DIS and C_VEL is on the KUKA|prc to-do list, though.
I've attached a manual - it's for KRC2 but works for KRC4 as well. Page 84 should be interesting.

Best,
Johannes

486
Support / Re: Spline Command Inputs
« on: September 13, 2013, 07:53:48 PM »
Hello Jackson,

You're right, there was a problem with the Spline command - it was generating code, but the visualization made issues with the previous member version. If you go into the Member Section, I've uploaded a new version of KUKA|prc dated today. There is still one remaining issue with the smooth simulation (jumps back to the start point) which I'll hopefully have the time to solve over the weekend. Attached to this post is a GH file that shows you how to use the Spline component - once the remaining issues are solved I'll upload a full example into the Tutorial section.

Regarding the crash: That is strange, I've crashed Rhino and Grasshopper in all imaginable ways while working on KUKA|prc but never had a crash that forced me to reboot, at most Rhino just quit and asked me to send an error report.

And one more thing: The main advantage of the Spline command is that you need relatively few points to define a complex curve that the robot can follow quite quickly. A long series of  points may negate the advantages.

Best,
Johannes
Association for Robots in Architecture

487
Tutorials / Tutorial: Basic KUKA|prc & Grasshopper
« on: August 27, 2013, 08:05:09 PM »
NOTE: This example uses an older version of KUKA|prc!



Title: Basic KUKA|prc & Grasshopper
Level: Basic
Description: Introduction to KUKA|prc and Grasshopper
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc

Remark: The tutorial was initially made as workshop support material. It should also be useful to get started with KUKA|prc in general. For Grasshopper tutorials and a very supportive forum, see also www.grasshopper3d.com

488
Tutorials / Example: Custom Robot
« on: August 27, 2013, 07:45:21 PM »
NOTE: This example uses an older version of KUKA|prc!




Title: Custom Robot
Level: Basic
Description: Implementing a custom robot model into KUKA|prc
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc

489
Tutorials / Example: Collision Checking
« on: August 27, 2013, 07:42:18 PM »
NOTE: This example uses an older version of KUKA|prc!



Title: Checking for Collisions
Level: Basic
Description: Checking for collisions between the robot and collision objects
Requirements: Rhinoceros 5, Grasshopper 0.9.0056, KUKA|prc

490
Tutorials / Example: Custom Tool
« on: August 27, 2013, 07:29:09 PM »
NOTE: This example uses an older version of KUKA|prc!



Title: Using a Custom Tool Model
Level: Basic
Description: Integrating a custom tool model into KUKA|prc
Requirements: Rhinoceros 5, Grasshopper 0.9.0056, KUKA|prc

491
Tutorials / Example: Hotwire Cutting
« on: August 27, 2013, 07:11:52 PM »
NOTE: This example uses an older version of KUKA|prc!



Title: Hotwire Cutting
Level: Intermediate
Description: Hotwire cutting example
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc

492
Tutorials / Example: Pick and Place
« on: August 27, 2013, 07:09:10 PM »
NOTE: This example uses an older version of KUKA|prc!



Title: Pick and Place
Level: Intermediate
Description: Program the robot to arrange bricks
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc

493
Tutorials / Example: Simple Toolpath
« on: August 27, 2013, 07:05:56 PM »
NOTE: This example uses an older version of KUKA|prc!



Title: Simple Toolpath
Level: Basic
Description: Program the robot to trace a line drawn in Rhino
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc

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