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Hello all,

I am trying to solve for a way to allow kuka prc to understand that a grinding wheel has multiple points across the grinding wheel surface that it can use to grind with. How can I create this behavior with Kuka PRC, as far as I can tell, I would need to do a tool change every time, which would potentially cause the grinder to dwell in a spot.

Could I segment the motion, so that if normally going from A to B in an arc like path, the robot would instead start from tcp position 1, go from A to A'(top of arc), change to tool tcp position 2, A' to B(end/bottom of arc).

[Qualifications]

https://solideon.com/solideon-robotics-engineer/ (On-Site. Relocation expenses not provided.)

The Robotics and Automation Engineer will be pivotal in designing, developing, and maintaining advanced robotic and automation systems. You'll work closely with multidisciplinary teams to ensure the seamless integration of robotics into our manufacturing processes, optimizing performance and reliability. This position is perfect for someone with expertise in robotics, automation, and hardware/software integration who thrives on creative thinking in a fast-paced environment.

Qualifications
3+ years in robotics, automation, or a related engineering field.
Strong knowledge of Python, C#, C/C++, particularly in data analysis and systems integration.
Experience with microcontrollers, IoT systems, electronics, circuitry, and electro-mechanical systems.
Familiarity with developing and documenting APIs and user interfaces.
Understanding of networking protocols and techniques for advanced integration.
A knack for researching technical datasheets, implementing sensor/actuator drivers, and advocating for innovative solutions.
Proven skills in diagnosing and resolving hardware and software issues in complex systems.
Strong organizational skills to manage and execute rigorous test processes efficiently.
The ability to work effectively within a multidisciplinary team as well as independently.
Preferred Skills:

Hands-on experience with vision systems in automation environments.
Knowledge of ROS/ROS2 framework.
Strong database management and data analysis abilities.
Experience with PCB design
Understanding real-time operating systems and their applications.
Familiarity with CAD, CAM, simulation, and FEA tools for design and prototyping.
Experience setting up control systems, adhering to wiring regulations, and working with PLCs.
Experience in 3D printing and rapid prototyping for developing innovative solutions.
Hands-on problem-solving attitude, eager to tackle challenges, and actively participate in project development.