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Hello,

I an currently trying to do a pick & place test where the robot will place bamboo skewers to the locations that is set on a styrofoam board in a 5x7 grid. While doing the tests, I realise that there are some inaccuracy where the robot does not place the skewers at the correct position in the X and Y axis, or in the correct angle.
I have tried placing more planes in the Grasshopper file hoping that will help with correcting the robot's movement, however the robot will still move off the path.
We also  suspected that the robot may have moved out of its limits for certain axis when placing the skewers, therefore, tried placing the board closer, however, the results were still the same.

I have attached the grasshopper file and the image of the results. Any help and advice will be much appreciated. Thank you!

Hi Johannes,

Thank you for your inputs, I have managed to somewhat figure the above out with your help.

I will also like to enquire about the robot's reach and rotation. I was testing if the robot is able to place the skewers in an angle as we will eventually be creating a piece of work where the skewers all rotate to the attractor points which creates a pattern. While I was testing, I realised that the tool path warns that there are collisions and unreachable positions when the angle of rotation exceeds a certain amount even though it is still within the robot's reach and rotation, which in this case is only 10 degrees (shown in Image 01 and 02). Therefore I was wondering what might be the issue here and how I can solve it.

I also realised that some of the axis unnecessarily turns when it does not need to (shown in Image 03 and Video 01). Will placing more points help? Or is there a way where I am able to restrict the axis movement for some part?


Thank you!

Hi Johannes,

Thank you for your quick reply!
Thank you for you explanation regarding the difference between the Lego and real KUKA robot, and how the Lego robot operates. Since I won't be able to increase the speed of the robot, are there any ways I can check the speed that the robot is moving at? Since for PTP movement, the speed is only expressed in a percentage.

For the tool head 4-point calibration, I was wondering for the reference point, is there a specific position that I need to place it e.g., same level as the highest point of my base, or will any position work? Do I also need a specific object to act as the reference point? Because when I was trying to calibrate the tool head, I just used a pointy object that is similar to what the video I have linked previously shown, and placed it to a position right in front of the robot that the robot can reach.

Regarding setting the base, my apologies for not phrasing it properly, what I meant was I had wanted my set up to be as what is shown in Image 01, so I have been trying to set up my Rhino and Grasshopper files according to how it looks like (shown in Image 02). However, after doing the base calibration and keying in the values, the robot tilts forward (shown in Image 03), which I understand that it is affected by the Base A, B and C in the KUKA prc component, however, that was what I was quite confused by. Will I need to tilt the robot forward when I am using the robot in real life, or can I just leave it as that and set my file normally? Will I need to tilt my base in the Rhino file as well so that it aligns with the robot? If my base already has a specific size, may I just key in the size of my base into the base management settings?

Thank you!

Hello,

I am currently using the KUKA OrangeApps Lego Robot and am testing out some pick and place movements. I have added a custom 3D printed gripper as the end effector, and what I am planning is to have A6 to turn to tighten around the bambu skewers, have the robot move to the required planes as set without A6 moving, loosen the grip of the gripper to release the skewer by activating A6 only, then move back to its original position.

I am trying to increase the speed which the robot can move when it is poking the bambu skewers into a Styrofoam base, however, when I tried feeding the PTP command with 100% speed, its movement is the same as when the command is fed with 30% or 50%. I have also tried adjusting the settings at the KUKA prc command, where I increased the PTP speed and acceleration to 100%, however, the robot's speed remained the same.

I would like to check:
1. If there are any other ways I can increase the robot's speed.

2. If it is possible to block one axis of the robot from moving while the robot is travelling tis path.

3. When calibrating the tool head with XYZ 4-point calibration and the base with 3-point, what is the proper way of doing it? I have tried to calibrate it according to videos, but the values seem a little strange, and my simulation seems to run a little off after I key in the calibrated values. These were the videos that I have referenced for bot tool head and base:
Tool head: https://www.facebook.com/KUKAGlobal/videos/how-to-setup-a-custom-tool-with-xyz-4-point-method-for-kuka-tutorial/538797073270925/
Base: https://www.youtube.com/watch?v=w7AKeu4Sy-Y

4. After calibrating the base, if I were to add a geometry to act as my base in the rhino file just as a reference and guide on where the skewers will go, how should I set up the base in the rhino file to how I need it in real time?

I have attached an image of the end effector and the grasshopper file. Any advice and help are much appreciated. Thank you!