Author Topic: Example: Custom Robot  (Read 4220 times)

Johannes @ Robots in Architecture

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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
« Last Edit: April 29, 2016, 04:18:39 PM by Johannes @ Robots in Architecture »

rmoscoloni

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Re: Example: Custom Robot
« Reply #1 on: October 22, 2015, 05:45:46 PM »
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





« Last Edit: October 22, 2015, 05:48:22 PM by rmoscoloni »

Johannes @ Robots in Architecture

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Re: Example: Custom Robot
« Reply #2 on: October 22, 2015, 08:23:41 PM »
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

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Re: Example: Custom Robot
« Reply #3 on: October 23, 2015, 04:07:45 PM »
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

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Re: Example: Custom Robot
« Reply #4 on: October 23, 2015, 04:28:28 PM »
Excellent, always happy to help!

Best,
Johannes