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Title: Example: Custom Robot
Post by: Johannes @ Robots in Architecture on August 27, 2013, 07:45:21 PM

NOTE: This example uses an older version of KUKA|prc!

(http://forum.robotsinarchitecture.org/extradata/customrobot.jpg)
Title: Custom Robot
Level: Basic
Description: Implementing a custom robot model into KUKA|prc
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc

Title: Re: Example: Custom Robot
Post by: rmoscoloni 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

Title: Re: Example: Custom Robot
Post by: Johannes @ Robots in Architecture 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

Title: Re: Example: Custom Robot
Post by: rmoscoloni 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

Title: Re: Example: Custom Robot
Post by: Johannes @ Robots in Architecture on October 23, 2015, 04:28:28 PM

Excellent, always happy to help!

Best,
Johannes

Robots in Architecture Forum

KUKA|prc - parametric robot control for Grasshopper => Tutorials => Topic started by: Johannes @ Robots in Architecture on August 27, 2013, 07:45:21 PM