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Messages - Johannes @ Robots in Architecture

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1
General Discussion / Re: maximum value
« on: August 16, 2019, 11:36:24 AM »
Hello,

In the Analysis tab of the Settings window you can switch the display to relative values!

Best,
Johannes

2
Support / Re: ABC tool angles
« on: August 13, 2019, 11:27:06 AM »
Hello,

I'm sure that will be helpful for others as well, thanks a lot for sharing!

Best,
Johannes

3
Support / Re: Milling clearing passes in foam
« on: August 13, 2019, 10:20:44 AM »
Hello,

Sorry for the delay. In the eMail you mentioned that you wanted to do this for multiple surfaces, or did I misunderstand the issue?
Attached would be my variant.
If you want to work on multiple geometries, you need to avoid Flatten and take care that the data paths match. That is why there are several Trim Tree or Simplify Tree components.

Best,
Johannes

4
Tutorials / Re: Quick Getting Started for KUKA Sunrise
« on: August 12, 2019, 05:10:45 PM »
Hello,

Just in case I would temporarily disable the firewall. But it shouldn't cause the null pointer exception.
The line numbers from your file probably don't match up with mine due to modifications, so I would just place a few breakpoints and step through the program.
Probably culprits are that there is a typo with the tool or base - do they both exist?
Also, start with a simple program with just a few axis movements and see if they work.

Best,
Johannes

5
Support / Re: ABC tool angles
« on: August 12, 2019, 07:54:44 AM »
Hello,

I'll have to look into that, unfortunately this week is rather packed and there are many people on holiday. I may have time tomorrow, but cannot promise anything.
If you can send me a simple file that shows your problem (or one with X and one with Z) that would make the troubleshooting easier, in case the issue is not generic, but specific to your usecase.
One more comment regarding XYZABC: There are multiple ways to express the same position. So if the number is not a perfect 90 degree, it doesn't necessarily mean that it's wrong.

Best,
Johannes

6
General Discussion / Re: Milled Timber Joints
« on: August 12, 2019, 07:37:13 AM »
Hello,

There was just a post about this a few minutes ago: https://forum.robotsinarchitecture.org/index.php/topic,1011.msg2838.html#msg2838
And I've attached a simple timber connection below as well.
The strength of Grasshopper is mass customization, so if you do many connections it makes sense to program it. If you have individual pieces that you mill out of big blocks of material, it makes sense to use a CAM software. From KUKA|prc you can e.g. import data from Fusion 360.

Best,
Johannes

7
Support / Re: ABC tool angles
« on: August 09, 2019, 05:01:44 PM »
Hello,

For performance reasons there is some rounding happening for the visualization (where we assume that you work in the range of millimeters or maybe 1/10mm, as zooming in to 1/100mm does not really make sense as the robot isn't that accurate), but it should not noticeably effect the code.
Where does the tool axis not look straight anymore?
At least the math seems right, if you change from X to Z you do have a 90 degree rotation, from -49 to -139.

Best,
Johannes

8
General Discussion / Re: 3D printing
« on: August 09, 2019, 07:37:36 AM »
Hello,

Where is the logic in your SRC file coming from? If you programmed it yourself in Grasshopper then you would have to look there for the origin of the negative velocity.
If you imported it from an external software, I would need to get (at least a part of) the original file so that I can see what's going on!

Thanks,
Johannes

9
Support / Re: Status and Turn Parameters with PTP Move
« on: August 09, 2019, 07:32:06 AM »
Hello Andreas,

That was a silly typo, I have fixed it. It will be included in the next release, you can also send me an eMail to johannes@robotsinarchitecture.org and I will send you the fix in advance.

Best,
Johannes

10
General Discussion / Re: 3D printing
« on: August 08, 2019, 12:29:02 PM »
Hello,

I just checked and the CAMRob options should be in R1\TP\CAMROB\CAMROB.DAT
You should be able to set it to C_DIS with your chosen approximation distance, e.g. 2mm.
DECL CR_APO_TYPE CR_eAPO=#CDIS

REAL CR_rAPO_CDIS=2
REAL CR_rAPO_CVEL=10

Do you have only LIN movements or many digital outputs etc. in between?

Best,
Johannes

11
General Discussion / Re: 3D printing
« on: August 07, 2019, 07:16:13 AM »
Hello,

First it would be good to test the process with less dense points, so just make a curve with a few points in Grasshopper and see if you can achieve smooth motion. Test it both as a SRC and as a CAMRob file to check whether there are differences.
If they both work fine, then the point density of the 3D printing project is too high. Either reduce the toolpath in your 3D printing software or with the Reduce Toolpath component.
While CAMRob allows you to load large files, excessive point density will still cause the robot to slow down.

Best,
Johannes

12
General Discussion / Re: Master Thesis with used Kuka Robot
« on: August 05, 2019, 01:01:30 PM »
Not really from my side, unfortunately. Used-robot-wise we've only dealt with Global Robots in the UK, but I'm sure there are more local options in Germany.

Best,
Johannes

13
General Discussion / Re: Master Thesis with used Kuka Robot
« on: August 05, 2019, 12:15:21 PM »
Hello,

A Robots in Architecture student membership would be 95EUR/year, so a small cost compared to the robot. We've got a component to take G-code from Fusion and turn it into KUKA Robot Language.
But there will be a learning curve on both the software and hardware side, that is clear!

Best,
Johannes

14
Hello,

We do not provide a public test license at the moment, it was only available for a limited time and has since expired. It also says so in the text.
Members can of course use their license for both the Grasshopper and Dynamo versions of KUKA|prc.
If you would like to test the Dynamo version, you can send me an eMail and I can provide you with a temporary license. johannes@robotsinarchitecture.org

Best,
Johannes

15
General Discussion / Re: Master Thesis with used Kuka Robot
« on: August 05, 2019, 11:53:34 AM »
Hello Lukas,

10.000EUR is definitely enough for a used robot, the problem is just that the small, used robots are often more expensive than large, used robots - probably because the large robots are more often used in industry.
So if you've got a large space where you can set it up, then you just need to calculate the extra costs for the delivery/setup as well as maybe an electrician for the high-voltage connection.
Most small robots I've seen are more expensive than 10.000EUR. And the compact robots before KRC4 are not really that great, as many were adapted with KUKA controllers, but produced by other companies.
Maybe there's a FabLab around with KUKAs that you could use for your thesis?

A big expense is also safety, however if you're only using it for your own, research purposes than it isn't a real factor.
You could start by contacting KUKA, they're also selling used robots (though they are a bit more expensive than other sellers). Via phone would be my recommendation.
Also, consider founding your own, small company for tax purposes if you buy expensive stuff like robots. But consult with an accountant first!

Best,
Johannes

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