Robots in Architecture Forum

Robots in Architecture, Art, and Design => General Discussion => Topic started by: gavin20181001 on April 20, 2020, 04:33:34 PM

Title: The problem of simulating kuka orbit movement in rhino
Post by: gavin20181001 on April 20, 2020, 04:33:34 PM
Hello everyone
This is my first contact with this plugin
Related operation knowledge is also learned from the channel video
I have a question after my own operation.
---------------------------------
Like the picture below
This is a simple straight line trajectory
I know that if the orbital motion is unreasonable, the kuka robot will be red
But I do n’t understand why this part is unreasonable
Because from the starting point to the leaving point, I set it within a reasonable range
I don't understand where is wrong, can someone tell me?

(https://gavindernote.com/wp-content/uploads/2020/04/kuka.png)

grasshopper file:
https://drive.google.com/file/d/1uOswSjFieh2AhytQSxEF2tSUYD-8TCPW/view?usp=sharing

Title: Re: The problem of simulating kuka orbit movement in rhino
Post by: Johannes @ Robots in Architecture on April 20, 2020, 08:09:50 PM
Hello Gavin,

You are moving through a singularity, see e.g. a random video here: https://youtu.be/lD2HQcxeNoA?t=9
Singularities are when two axes, in that case the front A6 and A4, are aligned, which is a problem for the kinematic solver. In your case A4 flips by 180 degrees, A6 moves along to compensate and due to the limited axis range of the Agilus they both run into axis limits.
And easy fix would be to move the toolpath upwards or downwards, where there is more of an angle at A5. Or you could use a tool that is not normal to the flange - but there is no universal solution, singularities are very application dependent.
Does that make sense?

Best,
Johannes
Title: Re: The problem of simulating kuka orbit movement in rhino
Post by: gavin20181001 on April 21, 2020, 12:26:53 AM
Thanks for your reply :)