Messages

Hello,
Hmmm... Can you give me some more details? You mention creating a new tool - do you mean in KUKA|prc or on the robot? In any case it is always essential that the XYZABC values of the physical and simulated tool are close/identical to achieve a reliable simulation. Even more important is that the tool number matches, as this is the value that gets written into KRL file.
Best,
Johannes

Hello,
It took slightly longer for me to push out a new release, but it is now available with the fixed KR15 model in the member section.
The kinematic model itself was correct, somehow the meshes were just 10mm too far below.
Best,
Johannes

...and I've also upgraded your account to member status.

Best,
Johannes

Hello Matt,

If you use a PTP command, try setting not only the STATUS but also TURN, which will unwind the axis. But note that this unwinding will be a very "large" movement.
Alternatively you can set the A6 of an Agilus to infinite rotation. Just make sure that you don't rip the cables that provide power to your hotwirecutter.
I can give you details how to do that, but please first check with the people responsible for the robot (Melissa?) if it's OK to change the configuration of the robot. It requires you to edit a configuration file.

Best,
Johannes

Awesome, congratulations and thanks for sharing!
I couldn't help but to notice the assorted robots in the background - are you collecting? ;)

Best,
Johannes

Hello,

The robot itself does not care which tool-axis is being used, but how we are handling it in KUKA|prc is indeed a bit non-standard - initially (long ago), coming from a KUKA SIM and CAMRob background the goal was to have a spindle with 0/0/0 for ABC be vertical to a frame. So we're basically using the X-axis as the toolaxis.
There is a "hack" to have KUKA|orc use the Z-axis, however it will make problems if you share definitions with people who use the regular version.

However, you definitely do not need to use different tools with different ABC values or so. Either calibrate the tool for the right tool axis, add the extra rotation numerically, rotate the frames in Grasshopper, or use the hack to set it to the Z-axis. The simulation and code generation follows the KUKA-standards, the only difference is how KUKA|prc interprets the frames coming from Grasshopper.

Best,
Johannes

Thanks a lot for letting me know, I will take a look at it! Currently it's very, very busy here, but I may be able to output a new version over the weekend. If not, hopefully by the end of next week.

Best,
Johannes

Hello Lior,

Do you mean normal to the surface? If you did mean parallel, you just need to transform the plane.
Here is a quick example where the tool is normal to the surface.

Best,
Johannes

Hello Alvaro,

What are you referring to as a new position for the robot? The base coordinate system? Or the $ROBROOT, i.e. the orientation of the robot's internal coordinate system?

Best,
Johannes

Hello Cristofer,

Here is a quick example I found from our 2015 workshop in Shanghai. It shows an exemplary helical toolpath - turn the points into an XY plane and then into LIN movements and you would have a working example.
While the general logic for incremental forming is not particularly complicated and very similar to some milling strategies, the challenge lies in finding the right parameters for your combination of tool and material. So there will be plenty of experimentation involved!

Hope that helps,
Johannes

I've sent them to your eMail address!
Best, Johannes

Hello,
That one is quite a lot higher on the priority list than the offset speed. It should make it in one of the next releases!
Best,
Johannes

Hello,

That has been on the list for a while, however there have always been things with a higher priority. But I'll definitely keep it in mind! Note that I'm currently on holiday, so there probably won't be any new releases until October.

Best,
Johannes

Hello Lior,

You can get started right away. KUKA|prc generates a *.src file which you just have to copy onto the robot directory (R1/Program) and then select from the menu (take care to use "select" and not "open"). In order to see the USB drive, change the user group (Start-Up/Configuration/User-Group) to Expert, the default password is a robot manufacturer with four letters, starting with k.
In order to be able to move the robot, you will either have to connect the relevant safety equipment to the X11 plug, or directly connect the channels if you don't plan on using external safety. Alternatively go into the highest user group (same password) and enable the Start-Up Mode in the menu. You will only be able to move the robot in T1 mode, i.e. at reduced speed and constant pressing of the button on the back of the controller, in start-up mode.
There are quite a few things relating to the basic handling of a robot (e.g. pressing the button on the back of the controller to the first position in order to be able to move the robot) that are best explained on-site, so I would recommend getting someone with basic robot knowledge when you first boot up your robot. Also refer to that post regarding the tool and base calibration: http://forum.robotsinarchitecture.org/index.php/topic,115.0.html
If you don't have them yet I can send you the standard user manuals as preparation!

Best,
Johannes

To change the posture, a robot with six axes has to leave the straight path, which LIN movements cannot do. So for changing the posture, you would need to use a single PTP or axis movement in between, unfortunately.

Best,
Johannes