which robots will the gh plug in work with?

[kerber.g]

Hello! thanks for all your inspiring work! I wish I could have attended the conference in Michigan and am sad that the next one is 2 years away. I will start learning as much as I can until then however I do not have access to a robot so all I can do is simulate. I am curious where i can find a list of robots that the plug in will work with so that as I keep an eye on the used market I know which machines are viable for this generative approach. Thanks. -Ethan midnightmetalworks.com

[Johannes @ Robots in Architecture]

Hello Ethan!

Michigan was really great fun, thanks to the great team at UMichigan. We're currently planning to be at ACADIA 2014 in fall, so we could try to grab a coffee somewhere in California ;)
Regarding your question: Basically any KUKA will work with KUKA|prc, as long as it has got six axes. I believe the KRL code from PRC also works with the KUKA SCARA robots (http://www.kuka-robotics.com/res/sps/e6c77545-9030-49b1-93f5-4d17c92173aa_Spez_KR_10_scara_WP_en.pdf) but we don't have a kinematic solver for them. Similarly, it works for the LWR with its 7 axis, but won't show the transformation of the seventh axis. We've worked with KRC1 to KRC4 controllers and never had any serious problems.
One thing to keep in mind regarding used robots: The older the robot the less positions it will be able to manage, i.e. high-density milling projects will quickly cause problems with older robots. But many really nice projects were done with used robots, e.g. the Red Bull Arch project with a KR150-2 series 2000 http://www.youtube.com/watch?v=nqV56S_iZCU

Best,
Johannes