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Messages - Johannes @ Robots in Architecture

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1051
General Discussion / Re: Hello,
« on: November 21, 2013, 10:30:41 PM »
Sure, there you go:

KUKA|prc Core generates the KRL code (double-click it to go into settings and set an output directory, though), If you enable Collision checking (in the settings, Simulation tab) you can plug a mesh object into the COLLISION input input and KUKA|prc will check for collisions. The default tool is just the initial tool that will be used, e.g. one of the included spindles. Every tool you measure in at the robot will get a number - it's important that you give the tool you're using the same ID as how you saved it at the robot.
KINEMATIC is the output for the virtual robot component - KUKA|prc simulates only the end-effector, if you attach the Virtual Robot component you can also simulate the full kinematic movements of the robot.
Don't worry about the ENDEFFECTOR and ORIENTATION outputs, they are just geometry, if you need it e.g. for rendering or visualization.

The ENABLE toggle will go away in the next version, it's actually highly redundant with Grasshopper functionality as was a bad idea to start with... Anyway...
Also take a look at the existing examples in the Tutorials section, this should make the data flows clearer as well.

Hope this helps you along!
Best,
Johannes

P.S.: I've taken the liberty of renaming the topic to "Getting started with KUKA|prc" to make it easier for people looking for similar information.

1052
General Discussion / Re: Hello,
« on: November 21, 2013, 10:04:45 PM »
Hello,

Good initial reading are the KUKA manuals, which you should have received with your robot (if not, I can send you a few) - this will make it easier to understand some aspects.
Basically, KUKA|prc works with the principle that you just queue up commands, mostly movements. There are several types of movement, e.g. linear, PTP, spline, circular (see manual for details) which require different inputs.
It's just essential to know that you need more data than just XYZ to define a robot position - XYZ is enough for a 3-axis CNC machine, a 5-axis machine already requires the definition of XYZ plus a tool axis. With the robot, you at least have to define XYZ, plus tool axis, plus the rotation around the tool axis (in KUKA|prc: orientation). So you either define a position via a plane (fulfills the requirements) or via three points, with the first base point defining the tool center point (XYZ), the second point the tool axis, and the third point the orientation around the tool axis. You can switch between plane mode and 3-point mode by right-clicking a movement component.
Even with the endeffector clearly defined, there are still 8 different ways how a robot could approach that positon (see status/turn in the KUKA manual).
If you want to have the robot follow a line, you either have to divide the curve into many planes, or into many "triplets" of points. Some of KUKA|prc components take care of the work (e.g. divide by distance, which requires a base curve, a guide curve, and an orientation point - it gets the base points from dividing the base curve, the guide points from dividing the guide curve, and the orientation from the point).

Hope this makes it a bit clearer!
Best,
Johannes

1053
General Discussion / Re: Hello,
« on: November 21, 2013, 04:21:39 PM »
Hello!

No problem, I moved the topic!
It depends if you have got previous experience with Grasshopper and what you would like to do with KUKA|prc. You've already seen the tutorial section which is helpful for playing around with existing definitions, the first post there also contains a PDF tutorial. We also do quite a few workshops each year, though I can't provide any fixed dates for 2014 yet.
So what are your plans?

Best,
Johannes

1054
Support / Re: Speed Control
« on: November 11, 2013, 07:18:23 PM »
Hello,

The current non-member version is from September 2013, you can download it from here:
http://www.robotsinarchitecture.org/kuka-prc

Or is there a particular reason why you're using an older version?

Best,
Johannes

1055
Support / Re: Speed Control
« on: November 06, 2013, 08:08:25 PM »
Hello,

Which version of KUKA|prc are you using? If you go into the KUKA|prc settings, it will show the version number in the About section.
I'm not really aware of a bug in that area and just tested it myself. You can also attach your GH file in the forum - the attachment option is underneath the text input field.
For KUKA robots you can enter a number between 0 and 2 (m/sec) for linear movements and 0 to 100 (in %) for PTP movements. Just note that if the robot cannot reach the specified speed, it will just move slower!

Best,
Johannes

1056
General Discussion / Re: Homebrew 6 axis controller
« on: November 06, 2013, 08:02:03 PM »
Hello,

Hmmm... That would definitely be interesting, though I do not really have any experience with custom controllers. The problems are most likely in the details, e.g. getting all axes to move perfectly in synch so that you can achieve straight toolpaths.
Keep us updated!

Johannes

1057
General Discussion / Re: Using a rotary table with the PRC?
« on: October 31, 2013, 02:04:26 PM »
Great to have you here, Freddy!

1058
Tutorials / Example: Automatic Linear Axis Strategies
« on: October 17, 2013, 11:35:22 PM »
NOTE: This example uses an older version of KUKA|prc!




Title: Using different adaptive strategies for the robot's linear axis
Level: Advanced
Description: The new adaptive linear axis strategies allow finetuning of the robot's rail strategy, e.g. continuous readjustments or only partial readjustments when required.
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc

LINEAR AXIS FUNCTIONALITY IS ONLY AVAILABLE IN PRC-MEMBER VERSIONS (20131017 or newer) ONLY

1059
General Discussion / Re: Using a rotary table with the PRC?
« on: October 02, 2013, 10:06:33 PM »
Hello,

At the moment, support for linear rails is in, but it needs some more work, i.e. automated algorithms for ideal placement. That is on our immediate to-do list. Rotary tables will be in as well, but that will take a bit longer.
Regarding the video: While we've worked with that robot before, this isn't one of our projects. To my knowledge the toolpaths were generated in SprutCAM and then postprocessed using KUKA CamRob - it gives you the choice of either having a fixed rotation for each file, or a dynamic adjustment of the rotation values. See http://www.ddg.tuwien.ac.at/index.php?idcatside=378 for some more information.

Best,
Johannes

1060
Member Section / Important Information for Members
« on: September 19, 2013, 02:15:03 PM »
In order to see the member section, you have to be tagged as a member. If you or your institution are members of the Association for Robots in Architecture, please register at the forum and send an eMail with your chosen username to johannes@robotsinarchitecture.org
We will then add you to the Member group!

Thank you!

1061
Support / Re: Best way to create a milling toolpath w/combo of LIN and CIRC?
« on: September 19, 2013, 01:58:40 PM »
Hello,

I've posted an example in the Tutorials section, see http://forum.robotsinarchitecture.org/index.php/topic,24.0.html
It takes a curve and parametrically divides it into arcs and lines, depending on the angle of the arc's three points.

Just note that you may need the KUKA|prc Trial version that we're going to post later today to work with the file!

Best,
Johannes
Association for Robots in Architecture

1062
NOTE: This example uses an older version of KUKA|prc!



Title: Parametrically dividing a NURBS curve into linear and circular movement commands
Level: Advanced
Description: Divide a NURBS curve into linear and circular movements, reducing file size and improving interpolation compared to a long sequence of just linear movements.
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc

1063
Tutorials / Example: Spline and Circular Movements
« on: September 19, 2013, 01:23:18 PM »
NOTE: This example uses an older version of KUKA|prc!



Title: Using Spline and Circular Movements
Level: Basic (spline), Advanced (circular)
Description: This example shows you how to use the spline command and one way to approximate a curve with arcs (e.g. for older robots that do not support spline movements)
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc

1064
Support / Re: Point-to-Point Movement causing jerky Robot Movement
« on: September 13, 2013, 07:57:23 PM »
Hello Jackson,

Below is the reply that I sent to Melissa regarding that issue:

The robot always interpolates between positions. In the case of KUKA|prc, the default interpolation method is C_DIS (at the end of every command), meaning that it interpolates by distance. At a certain point between two points, the robot will start deviating form the direct path to achieve a smooth motion. Things you can do to make it smoother: At the beginning of the KUKA|prc code, add a custom KRL component with a text input of "$APO.CDIS=25" - the would mean that once the robot is 25mm away from the end point, it may deviate from the set path. Another way would be to replace all C_DIS with C_VEL - with C_VEL referring to an interpolation that tries to achieve constant velocity. You can set the amount in percent via $APO.CVEL. For now, you would have to do the replacing either via Grasshopper text tools or - more reliably - with a text editor. Giving users the choice between C_DIS and C_VEL is on the KUKA|prc to-do list, though.
I've attached a manual - it's for KRC2 but works for KRC4 as well. Page 84 should be interesting.

Best,
Johannes

1065
Support / Re: Spline Command Inputs
« on: September 13, 2013, 07:53:48 PM »
Hello Jackson,

You're right, there was a problem with the Spline command - it was generating code, but the visualization made issues with the previous member version. If you go into the Member Section, I've uploaded a new version of KUKA|prc dated today. There is still one remaining issue with the smooth simulation (jumps back to the start point) which I'll hopefully have the time to solve over the weekend. Attached to this post is a GH file that shows you how to use the Spline component - once the remaining issues are solved I'll upload a full example into the Tutorial section.

Regarding the crash: That is strange, I've crashed Rhino and Grasshopper in all imaginable ways while working on KUKA|prc but never had a crash that forced me to reboot, at most Rhino just quit and asked me to send an error report.

And one more thing: The main advantage of the Spline command is that you need relatively few points to define a complex curve that the robot can follow quite quickly. A long series of  points may negate the advantages.

Best,
Johannes
Association for Robots in Architecture

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