Robot Actual Speed

[Khalilullah_Taj]

Hi Johannes,

I have two questions.

How can I ensure that the actual robot speed doesn't change when the TCP reaches higher points in the Z axis? When I print concrete structures that are taller than a certain limit, altough the robot follows the toolpath without crashing, it slows down drastically in certain points.

How can I obtain a high-resolution snapshot of the robot in the KUKA - PRC?

Thank you,
Taj

[Johannes @ Robots in Architecture]

Hello,

I guess you are referring to singularities, in your case most likely when the wrist (A5) is close to 0, so around when the object reaches the height of the robot?
Unfortunately there is no easy fix, the best levers are to change the position of your work object and the angle of the tool holder. But that only postpones the singularity to another point in the process.

Beyond that there isn't that much you can do, singularities are inherent to the standard industrial robot kinematic setup. Technically you could try to use tightly spaced PTP motions on areas where singularities occur (with a switch in posture where A5 transitions), but I would say that something like this is only useful, if you produce an object many times and you can afford the time to hand-tune everything, with some verification cycles on the actual robot.

Regarding the screenshot: In Rhino, right-click the name of your viewport in the upper left corner of each viewport. Like "Perspective". Then go to "Capture" and select either Clipboard or File. In the next window you can then also set a multiplier for the resolution.

Best,
Johannes

[Khalilullah_Taj]

Hi Johannes,

Thank you for your quick and helpful response, as always.

1. I guess what I am facing is a singularity. It is correct that this starts to occur when the original TCP (without the tool) reaches a height close to the height of the robot. Is there a method of predicting singularity on the KUKA | PRC for a certain program? I know that I didn't get any errors.

2. Thank you for letting me know of this method to capture the screen. However, I meant a high-polygon robot model. I attached the captured image to this response.

Sincerely,
Taj

[Johannes @ Robots in Architecture]

Hi,

You must have enabled the low-resolution robot model in the Advanced Settings - then it will show up nicely again.
There is no real reason to use that unless you are displaying 100s of robots for some evolutionary optimization algorithm.
And KUKA|prc should highlight potential singularities in yellow in the Analysis graph! Please take a look if that matches with your experience!

Best,
Johannes

[Khalilullah_Taj]

Hi Johannes,

Thank you for your suggestions. I imported the G-code, which would induce a singularity. Unfortunately, I am not able to see it in the analysis graph.
Additionally, I had tried turning the low-resolution robot model on and off. It doesn't make a difference on my robot model. Could it be specific for this robot (KUKA Iontec KR30-70 R2100) only?

Thank you,
Taj