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Messages - Johannes @ Robots in Architecture

#1216
General Discussion / Re: Homebrew 6 axis controller
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
#1217
Great to have you here, Freddy!
#1218
Tutorials / Example: Automatic Linear Axis Strategies
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
#1219
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
#1220
Member Section / Important Information for Members
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!
#1221
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
#1222
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
#1223
Tutorials / Example: Spline and Circular Movements
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
#1224
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
#1225
Support / Re: Spline Command Inputs
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
#1226
Tutorials / Tutorial: Basic KUKA|prc & Grasshopper
August 27, 2013, 08:05:09 PM
NOTE: This example uses an older version of KUKA|prc!




Title: Basic KUKA|prc & Grasshopper
Level: Basic
Description: Introduction to KUKA|prc and Grasshopper
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc

Remark: The tutorial was initially made as workshop support material. It should also be useful to get started with KUKA|prc in general. For Grasshopper tutorials and a very supportive forum, see also www.grasshopper3d.com
#1227
Tutorials / Example: Custom Robot
August 27, 2013, 07:45:21 PM
NOTE: This example uses an older version of KUKA|prc!





Title: Custom Robot
Level: Basic
Description: Implementing a custom robot model into KUKA|prc
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc
#1228
Tutorials / Example: Collision Checking
August 27, 2013, 07:42:18 PM
NOTE: This example uses an older version of KUKA|prc!




Title: Checking for Collisions
Level: Basic
Description: Checking for collisions between the robot and collision objects
Requirements: Rhinoceros 5, Grasshopper 0.9.0056, KUKA|prc
#1229
Tutorials / Example: Custom Tool
August 27, 2013, 07:29:09 PM
NOTE: This example uses an older version of KUKA|prc!




Title: Using a Custom Tool Model
Level: Basic
Description: Integrating a custom tool model into KUKA|prc
Requirements: Rhinoceros 5, Grasshopper 0.9.0056, KUKA|prc
#1230
Tutorials / Example: Hotwire Cutting
August 27, 2013, 07:11:52 PM
NOTE: This example uses an older version of KUKA|prc!




Title: Hotwire Cutting
Level: Intermediate
Description: Hotwire cutting example
Requirements: Rhinoceros 5, Grasshopper 0.9.0072, KUKA|prc