An incompatibility between KUKA prc simulation and robot movement

[akay38]

Hello,

I have a robotic system consist of KUKA KR200 KRC2 ED05 + custom rotary table. I encountered with this situation that the robot is not operating as the simulation made. I share both simulation and robot videos. I will be waiting for your ideas leading me to the solution.

Bests,

[Johannes @ Robots in Architecture]

Well, it seems that the simulation is rotating one way and the actual turntable the other way.
If the digital twin is not accurate, you cannot get an accurate simulation. Try flipping the rotation axis of your turntable!

Best,
Johannes

[akay38]

Hi Johannes,

Thanks for the assist. I made the digital twin accurate.

Even though X and Y values for LIN movement should have same values with the begining through the program, somehow, it decides to turn with the rotary table. Why do you think it behaves like that? May it be about the rotary table velocity or something else?

Please have a look the documents attached:

Bests

[Johannes @ Robots in Architecture]

I'm sorry, I don't quite understand where you need support. Is the simulation the way you like it but the robot works differently? In that case, the most usual mistake is that people do not calibrate the base of the robot as an Offset Base that rotates with the rotary table.
If you wonder why it is rotating at all in the simulation: You enabled the rotary axis solver in the KUKA|prc settings that tries to orient the tool along a given vector.
Finally, for the simulation slider only use 0-1.

Best,
Johannes

[akay38]

Actually, I just solve the problem by entering the master value of E1 axis of the robot, which was calibrated by the service to a different value than 0. As you said, robot was acting different than the simulation because the digital twin was not correct.

Thank you for your support! Have a nice day.

[Johannes @ Robots in Architecture]

Great! Thanks for the update!
Best,
Johannes