Robots in Architecture Forum

KUKA|prc - parametric robot control for Grasshopper => Support => Topic started by: zura on April 08, 2022, 05:21:24 PM

Title: Can you help me align the base ?
Post by: zura on April 08, 2022, 05:21:24 PM
Can you help me align the base ?
Title: Re: Can you help me align the base ?
Post by: Johannes @ Robots in Architecture on April 08, 2022, 05:25:45 PM
You need to have a calibrated tool and then get the coordinates of the base via the 3-point method. See e.g. here: https://sites.wit.edu/cfar/robotics-lab/step-by-step-guide/robotics-step-3a-calibrate-base/
Then enter the values into KUKA|prc.

BEst,
Johannes
Title: Can you help me align the base ?
Post by: zura on April 09, 2022, 08:48:28 AM
Hello, I have calibrated the machine and also corrected the base but it does not work

thanks
Title: Re: Can you help me align the base ?
Post by: Johannes @ Robots in Architecture on April 11, 2022, 09:43:18 AM
What do you mean by "does not work"?
The base that you have posted indicates that its origin is below the level of the robot (negative Z value). Is that possible?

Best,
Johannes
Title: Re: Can you help me align the base ?
Post by: zura on April 12, 2022, 01:00:53 PM
Hello, we have used the machine relatively higher than the table Asero Z coordinate is negative
Title: Re: Can you help me align the base ?
Post by: Johannes @ Robots in Architecture on April 12, 2022, 05:45:39 PM
That is good!
What is not working?

Best,
Johannes
Title: Re: Can you help me align the base ?
Post by: zura on April 12, 2022, 06:24:26 PM
Hello we have created a virtual base in the positive. In reality the robot continued to move in the negative from 0 to -412 mm
Title: Re: Can you help me align the base ?
Post by: Johannes @ Robots in Architecture on April 12, 2022, 09:15:24 PM
If you go to Calibrate / Tool / Numeric Input, is your tool number 6 saved with (ca.) 546/0/88/0/0/0?
Next thing to check: If you put the robot into the World movement space and go Z+, does the robot move upwards or downwards?

Best,
Johannes
Title: Re: Can you help me align the base ?
Post by: zura on April 14, 2022, 10:56:29 AM
Hello. I want to apologize to you To bother. I was disturbed the device data  because we did not have everything adjusted. We had to change the coordinates because it not worked. I think the tool in the data B and C is not correct B-89.998 and C-179.967 Do you think this is normal. When I entered the real data in kuka prc I got an error because the Tool came up incorrectly. Do you think I should fix the tool again?
and Z + moves upwards.

Thanks for everything
Title: Re: Can you help me align the base ?
Post by: Johannes @ Robots in Architecture on April 14, 2022, 11:06:32 AM
Hello,

Let's keep it simple for now, please move your robot to 0/-90/90/0/0/0 (axis values, 90 degree position) and post a photo of how the tool is mounted.
Then I can give you an estimate to get started.
For milling spindles I usually use a very long and a very short tool and then use the vector between them to calculate the ABC. But that is for later.

Best,
Johannes
Title: Re: Can you help me align the base ?
Post by: zura on April 16, 2022, 06:01:22 PM
Hello

Sorry for the delay
Title: Re: Can you help me align the base ?
Post by: Johannes @ Robots in Architecture on April 19, 2022, 07:22:32 AM
Hello,

If the spindle is pointing straight down, then you can just set ABC to 0/0/0 to get started (this is assuming you have left the tool-axis to the default setting).
So calibrate the XYZ part of the tool via the 4-point method and then set the ABC via numerical input (both are in the same menu for tool calibration).
Finally, set the same XYZABC values and the same tool number in KUKA|prc to get a reliable simulation and hopefully running SRC file.

Best,
Johannes
Title: Re: Can you help me align the base ?
Post by: zura on May 22, 2022, 05:18:53 PM
Hello Johannes

Sorry for the delay
I followed your advice and Came out, with how to fix ABC later

thanks
Title: Re: Can you help me align the base ?
Post by: Johannes @ Robots in Architecture on May 23, 2022, 11:05:17 PM
Excellent, glad that it worked!
Thanks for the update!

Best,
Johannes
Title: Re: Can you help me align the base ?
Post by: zura on May 24, 2022, 04:32:37 PM
Hello Johannes
 
How can we align ABC?
Title: Re: Can you help me align the base ?
Post by: Johannes @ Robots in Architecture on May 24, 2022, 08:51:30 PM
That very much depends on the application. For high-accuracy milling I usually calibrate the XYZ values of a long and a short tool (the higher the difference in length the higher the accuracy) and then use the vector to calculate the right ABC values.
I can send you the code, but to get you started you could also just send me the XYZ values of a short and a long tool and I will send you the ABC values back.

Best,
Johannes