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I made this video showing how to align a robot tool so it is tangent to a path.
Would be curious if anyone has any better ways of doing this  :)

Thanks Johannes,

I'll look into the update soon.

All the best,
-Nicholas

Hi Johannes, I started the file from scratch in the example I'm talking about.
Sure, we can look into it when you get back :) all the best!

Hi Johannes,

I am working on the Custom Turntable component (which seems to be updated from this example) for the user guide.
I am a bit confused with the base and table meshes where it seems to invert them. Is there a mixup in the inputs or am I doing something wrong?
Here is a video: https://youtu.be/03T-JB4rT2g

Thanks Johannes! That is such a good idea, I hadn't thought of that  ::)

I'm guessing you used C# for KUKA|prc then? I don't know C# and am a bit streched for time with this project so I will probably go with your first suggestion for now if Eto doesn't work out.
Thanks,
-Nicholas

Update, so apparently ironpython in grasshopper doesn't support tkinter?
I found Eto however which allows to program custom GUI interfaces for Rhino and Grasshopper. See the last section here: https://developer.rhino3d.com/guides/rhinopython/

I'm still uncertain on how to add a button on the actual component in grasshopper but I have tested it with a "open_window" bool input and that also works although less elegant.
If anyone knows how to make a custom python component with a "open window" button, that would be appreciated  :)

Hello, I have decided to develop a solution to automate welding programming parametrically.
It would be really useful to minimize the amount of components to be created for each weld by creating a component like "KUKA|prc CORE" which has a button that opens a custom GUI.

Does anyone know how this can be done? I'd appreciate a link to any documentation for doing this in python, thanks in advance!  :)
-Nicholas

Thank you Johannes!
That makes more sense.
I'll try to contact KUKA to get them to fix that. It's a bit annoying to put in the user guide that KUKA's datasheet is wrong  ;D ;)

I'll look into the 160.5 measurement too.

[KR 8 R2100 arc HW]

Hi Johannes,

I have just spent a good number of hours making an example of creating a KR 8 R2100 arc HW custom robot for the user guide.

I have downloaded the cad files and the datasheet from the KUKA Download Center, everything went smoothly until I tried to rotate axis 5 which seems to have a different layout from what is written in the datasheet.

The datasheet says 854.5, if I correctly understand.


This is obviously wrong.


however it seems to rotate correctly when I use 935. Am I missing something here?


Link to cad file used: https://www.kuka.com/event/media?itemId=698905A2591A453884717556A8C15D38
Link to datasheet used: https://www.kuka.com/event/media?itemId=07A1CEB8560D4848A8BF58779DB93EA5

Thanks Johannes,
Yes I agree that code would be easier in some cases :)

I'll keep thinking about it and maybe in the future I'll come up with something for it.
I've been testing out a lot of simulation software now that I am back at work and some of them have such features so I'm curious to explore methods of doing this.

I was wondering, in a program with a lot of repetition (eg. an array for palletizing) if it would be possible to handle issues like collision or limits per single iteration by setting constraints for automatically resolving them (eg. if axis limit exceeded, rotate around TCP Z axis OR if collision, offset along world X axis).

Any ideas if this could be achieved in some way?

Thanks for this example Johannes, very useful. I'm planning to cover this in the next user guide update :)

However the files seem to be outdated or at least something went wrong when opening it as I was getting an unrecognized object error for the custom robot which was missing.

I have fixed this on my machine at least and am uploading an updated version.

Part 1: https://youtu.be/ce5FLC2u7VQ

Part 2: https://youtu.be/CKErqpZAeEA

I'm glad you enjoyed it! I understand what you mean. Any interesting projects I will post :) I like sharing and exchanging ideas or tips and tricks

Wow, that is so kind of you! Would be great  :D
I just sent you an email :)