Example: Custom Robot

[Johannes @ Robots in Architecture]

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

[rmoscoloni]

Hi Johannes, how are you?
i dont understand some of the behavior in this example. as loaded robot has first arm pointing up (i suspected a02=0° in this position orange robot), but after selected all the meshes and setting the start position to (see pic) the robot takes the horizontal position.
This became a problem with axis settings when a02 has a limit of the kuka sheet.
Could you give me some pointers of what to do with axis limits?
regards
rck

[Johannes @ Robots in Architecture]

Hello,

KUKA provides robots geometries in the robot's standard home position, i.e. 0/90/-90/0/0/0. So you also have to provide the meshes in that position.
If you set the axis values to 0/0/0/0/0/0 then the robot will look as in your screenshot (which is correct).
There is not need to "zero" the axes when using a robot, as e.g. in older CNC machines!

Best,
Johannes

[rmoscoloni]

hello johannes, many thanks!
Its so clear now, i was trying to figure this out.
Many questions to come.
Regards
rck

[Johannes @ Robots in Architecture]

Excellent, always happy to help!

Best,
Johannes