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Topics - AiSard

Support / tool mesh conversion between PRC v1 and v2
December 02, 2016, 09:07:33 AM
So I've been archiving all the tools I've ever used with kuka|PRC for archival purposes, when I was reminded that the tool mesh is inputted differently between PRC2 and PRC1 (and between X and Z for the latter)

Whats an easy way to transform the tooling mesh between PRC1 to PRC2 and vice-versa?
Given that I have the xyzabc of all the tools, I figured all the information was there to do the conversion, but I've never really wrapped my head around that transformation :-[
Support / Camera mounted robot methodology
November 07, 2016, 06:23:42 PM
Was wondering if there is a way to use kukaPRC to move a camera mounted on a robot in such a way that it is always focused upon a fixed (or moving) point?

I recall doing some tests way back when SPLine was not yet fully implemented in kukaPRC, but gave up as I couldn't find a way to keep the camera focused on a point in between commands. LIN and PTP always shifted the focus in between commands.

Not going to have access to the robot til Thursday so was wondering if it's possible to do on PRC, or if not if you have any tips for how to implement it with KRL code?..


Support / switch posture halfway through
September 19, 2016, 12:29:05 PM
Is there a way to switch posture using only LIN movements (no PTP)?
either using just PRC, or adding something to the KRC code maybe?

i.e. the first 10 movements I want it to be in 110 configuration, but the second set of ten movements I want to be in 010 configuration? something like that?

Not sure if I'm missing something, a bug, or a hold-over from older versions:

Plane output from the Analysis component isn't the same as Plane input (in LinMove for instance).
Seems the tool direction isn't the same?

Edit: seems to happen when the input is through AxisMove
Support / Robot axis limits
August 19, 2016, 07:59:45 AM

Apologies in advance if this is a stupid question; but where do we set the min/max axis limits? (I vaguely recall we could set these values in PRC1) or has this been internalized for each robot somehow?

Apologies if its a bit off topic,
But I've been messing around with forward kinematics for use with RSI along kukaPRC and stumbled on the need for Denavit-Hartenberg parameters (the 'a' [alpha?] and 'd' parameters specifically). Does anyone know where I can find this, calculate this, or derive this from the robot skeleton that kukaPRC produces?

Our robot is a Kuka KR10 K1100 sixx.

Support / Solution Exception
January 13, 2016, 08:39:34 AM
I get this error every now and then, especially when I open a previously working definition on a new computer, except I can't figure out how to fix it this time (usually I just recreate things until the error magically goes away)

1. Solution exception:[A]KUKA.KUKAClasses.KUKAprcCommand cannot be cast to [B]KUKA.KUKAClasses.KUKAprcCommand. Type A originates from 'KUKA, Version=1.0.5203.20661, Culture=neutral, PublicKeyToken=null' in the context 'LoadNeither' in a byte array. Type B originates from 'KUKA, Version=1.0.5203.20661, Culture=neutral, PublicKeyToken=null' in the context 'LoadNeither' in a byte array.

Using KUKA|prc(1) Version: 2014-03-31