Messages

1

Support / Re: kuka PRC for parametric Laser Cladding

« on: January 21, 2021, 10:20:55 AM »

Hello Syed,

Sure, let's have a call soon, send me an eMail and we can arrange a time!

Best,
Johannes

2

Support / Re: kuka PRC for parametric Laser Cladding

« on: January 20, 2021, 12:03:12 PM »

Hello Syed,

I took a look at the file, beyond the robot sitting on the turntable I don't see any particular problems.
Just take care not to calibrate the base as a normal base, but as an offset base!
Regarding the question with the arcs, could you clarify that a bit? I think I don't know enough about the process to understand how the segmented arcs would fit in.

Best,
Johannes

3

Support / Re: kuka PRC for parametric Laser Cladding

« on: December 28, 2020, 03:45:51 PM »

Hello Syed,

That sounds all super interesting, enjoy the break and then all the best with your project in a hopefully less complicated year 2021!

Best,
Johannes

4

General Discussion / Re: Digital input problem

« on: December 22, 2020, 09:14:12 AM »

Excellent, thanks for the update!
Best,
Johannes

5

General Discussion / Re: Digital input problem

« on: December 21, 2020, 11:33:27 AM »

Hello,

That must be a bug in the Community Edition that has since been resolved, it looks fine on my end.
Please send me an eMail (johannes@robotsinarchitecture.org) and I'll provide you with a temporary license. We will hopefully publish a new Community Edition in January!

Best,
Johannes

6

Support / Re: Kuka KR5 SIXX R650 support

« on: December 21, 2020, 11:26:46 AM »

Hello Austen,
The KR5 was our first "own" robot, I remember it fondly, e.g. from Berlin: https://vimeo.com/30506602
That being said, the KR5 is - if I remember correctly - a Denso robot with a KUKA controller, so it's a bit of a strange combination. But it worked fine for us. That being said, especially as a beginner I would rather go for a used KUKA Agilus as it has got the newer KRC4 controller. Not sure how availability is in the US, though - you could start by calling KUKA US so that they can get you an offer. I would assume that a used Agilus with a few years on it should be around 10-15k USD.
For the KR5 you mentioned I personally wouldn't spend more than 3-7k on it.
Regarding PRC you could already implement it via the Custom Robot component, I can give you some pointers if you need help. I've attached a Rhino model of the 850 variant.
The controller should work fine with PRC. Regarding power, we always ran it from a standard 230V power outlet and never had any power issues - not sure if there is a US variant or if you need a voltage converter, though.
Best,
Johannes

7

General Discussion / Re: An Interview with Johannes

« on: December 07, 2020, 01:36:50 PM »

Ah, you did mention that once!
I'll look into that, if I can come up with an easy way to fix that!

Best,
Johannes

8

General Discussion / Re: An Interview with Johannes

« on: December 04, 2020, 09:45:35 AM »

Axis movement icon? Now I'm curious!

Thanks for the nice interview, Karl!!

9

Support / Re: Rhino 6 Advisory

« on: November 23, 2020, 12:06:11 PM »

Hello Victor,

It seems to be working fine for me at the moment, though I haven't thoroughly tested it. In a few months we will probably cease support for Rhino 5 and move to Rhino 6 as a minimum requirement. We won't require Rhino 7 in the foreseeable future.

Best,
Johannes

10

Support / Re: kuka PRC for parametric Laser Cladding

« on: November 13, 2020, 01:51:27 PM »

Hello Syed,

That was a bit tricky, the challenge is that when you calculate an angle, you get some value in degrees, let's say 355 degrees and 5 degrees. When the turntable moves from 355 to 5 it will go 350 degrees in negative direction. What you want it to do is to move from 355 to 365, i.e. just 10 degrees.
I made a quick C# script for that, but treat it carefully as I'm pretty sure that there are border-case where it does not work. I only tested that with your current setup.
The rest was pretty straightforward. Just note that there are some positions where the robot runs into A5 limits. Probably some normals of faces are a bit off in the 3D scan, smoothing the scan might help for that.
Also, I would strongly suggest to use ReduceMesh to reduce the complexity of mesh geometry you import into Grasshopper.

Best,
Johannes

11

Support / Re: Dynamo KUKA PRC License Problem

« on: November 05, 2020, 10:16:49 AM »

Hello Anna,

Please send me an eMail (johannes@robotsinarchitecture.org) with your affiliation and I will provide you with the right license type!

Best,
Johannes

12

Support / Re: kuka PRC for parametric Laser Cladding

« on: November 05, 2020, 09:00:11 AM »

Hello Syed,

I think the linked code should work well for that, please give it a try and if it doesn't work as expected let me know and I'll look at it in detail, OK?
And it would be great if you could post a link to the article you mentioned once it's online!

Best,
Johannes

13

Support / Re: kuka PRC for parametric Laser Cladding

« on: November 02, 2020, 07:48:58 AM »

Hello Syed,

The external axis uses simple degrees as the input value, in the case of the DKP you have got one axis that sets the tilt and one that sets the rotation. Which one is E1 and which one is E2 depends on your particular setup and can be changed in the simulation (to fit your physical setup!) by right-clicking the DKP 400 component.
You can of course calculate the value so that e.g. the tool stays as vertical as possible, that code may be useful as a pointer, through it only uses one rotational axis:
https://forum.robotsinarchitecture.org/index.php/topic,822.0.html
Give it a try and if you get stuck somewhere, let me know - and clearly define what movement you want to delegate to the DKP, "most work" is too vague, do you want to keep the tool vertical? Keep the robot very close for stability?

Best,
Johannes

14

Support / Re: Synchronizing the Physical and Virtual Robot for an Accurate KUKA|prc Simulation

« on: October 27, 2020, 07:57:57 AM »

Hello Victor,

I don't know if we will push this out publicly, but if you want to try it yourself, just look into the CORE_RUN method.
One if its constructors is the object xmlout.
You should be able to access the tool values as a Frame object via xmlout.prcsettings.inittool and can then just set your TCP accordingly.
I'm not sure if we do the transformation from degrees to radians and cannot test it right now, so take a look at the XML file first.

Best,
Johannes

15

Support / Re: Synchronizing the Physical and Virtual Robot for an Accurate KUKA|prc Simulation

« on: October 23, 2020, 09:37:51 AM »

Hello Victor,

Would that be useful to you? This is something that we might need for another project and shouldn't be a huge effort to integrate.
I can't give you an exact ETA, though.

Best,
Johannes