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Messages - Johannes @ Robots in Architecture

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16
Support / Re: Kuka/PRC on a Mac
« on: June 13, 2019, 12:48:54 PM »
Sure, I'll send you a link via direct message in a minute!
Thanks!

17
Hello Rodrigo,

Please give the most recent member release a try: https://forum.robotsinarchitecture.org/index.php/topic,973.msg2704.htm (only accessible for RiA members)
It now looked fine to me!

Best,
Johannes

18
Support / Re: Error during ECat stack initialization?
« on: June 10, 2019, 04:00:04 PM »
Hello,

Hmm... I think with an EtherCAT error you can move the robot in T1 but not in AUT.
Can you check if there is an EK1100 inside the controller, and if so if the lights are on when the controller is running? If not, you need to make the 2-cable bridge I mentioned in the other post to provide it with power.
Or if the robot was used by someone else before, then there might be a difference between the configuration and the actual robot. Load the current WorkVisual project from the controller and check if something shows up on the X44 that is not there in reality.

Best,
Johannes

19
Support / Re: KR10 X11 Diagram
« on: June 06, 2019, 07:52:19 AM »
Usually, unless they were treated a bit roughly, they should not need to be mastered. It's still recommended, of course.
To move the robot without the X11, go into a usergroup >= Expert and then activate the Start-Up mode. I believe it's in Startup/Service (but no promises, I'm not at the robot at the moment).
In startup mode you can only operate the robot in T1, i.e. you need to keep the button on the back pressed, even for programs, and the speed is limited.
If there is a plastic bag with 4 blue wires included, you may also need to build that plug, which provides power to the internal Beckhoff EK1100 coupler. You just connect the internal power supply with the internal power connection, unless you want an external 24V power supply. I'm at the airport right now so I cannot give you the X-something ID of the plug - I believe it's X55, though.
Finally, if you are doing the startup yourself, don't forget to plug in the battery. Inside the cabinet there will be one loose cable, which will fortunately only fits into a single plug next to it.

Best,
Johannes

20
Hello Rodrigo,

Thanks for giving it a try! I'll look into it in-depth tomorrow once I'm back from my travels!

Best,
Johannes

21
Hello Rodrigo,

Thanks for the info, I'll look into that once I'm back in Austria.
The problem seems to be caused by the Tool Offset component, can you program that movement by yourself via Plane Offset, maybe?
That should solve it for now!

Best,
Johannes

22
Support / Re: KR10 X11 Diagram
« on: June 05, 2019, 07:35:56 PM »
That looks right, is it working?
If so, thanks for sharing!

23
Support / Re: Kuka/PRC on a Mac
« on: June 05, 2019, 06:40:19 PM »
Hello Ghali,

Maybe I manage to have time over summer to integrate that, but so far I unfortunately do not have any news for you.
Just out of curiosity, if you try to run it on Mac, does anything show up?

Best,
Johannes

24
General Discussion / Re: Kuka robot arm milling help
« on: June 04, 2019, 03:58:13 PM »
Hello,

Sorry, I cannot give you a highly technical reply as I haven't worked directly with those materials much. I've seen a company use KR500 robots with >30kW milling spindles, but a KR210 would probably also work, just slower. 9kW seem not very much to me, but I would check with the spindle manufacturer. For them it doesn't matter if the spindle is mounted to a CNC machine or robotic arm.
If you only want to do milling, get a milling software like PowerMill (with PowerRobot), SprutCAM, etc.

Best,
Johannes

25
Hello,

We've been supporting turntables and external axes for quite some time, PRC even works with the KMR iiwa platform.
Currently the maximum is 4 external axes.
We can provide you with a temporary license so that you can evaluate those features,

Best,
Johannes

26
Support / Re: Unwanted Axis Rotation
« on: May 29, 2019, 09:36:01 PM »
Hello,

There is no proper way to lock the axis, but in very general terms you want to avoid A5 being close to zero, i.e. the robot being "stretched".
In your project you would have a few options, like e.g. raising the element by ~500mm, tilting it, or using a tool that is not normal to the flange.
PTP movements are also not subject to singularities, but for punching you probably want linear movements.

Hope that helps!

Best,
Johannes

27
Support / Re: Mesh export
« on: May 24, 2019, 01:01:01 PM »
Hello Stefan,

The Robot Geometry output provides three data trees:
The first one contains the meshes, the second one the color of those meshes and the third one the curves.
Note that the order inside those lists is not always the same due to multithreading.
I'm not sure if it's ideal to send e.g. 20 lists of robot meshes per second, maybe making a simple forward kinematic model of the robot within Unity - or whatever you are using for the HoloLens - would be easier.

Attached is an example on how to get the axis values. You will need to activate enable the Output Analysis Values option in the settings.

Best,
Johannes

28
General Discussion / Re: Learning inverse kinematics
« on: May 13, 2019, 03:16:50 PM »
Hello,

With much experimentation and trouble-shooting, and with the input of the community. It's still not "perfect", but then again the only close to perfect simulation approach is OfficeLite, which is the entire robot controller running within a virtual machine.
If you have got a license for it (may be included with EDU packages) then OfficeLite is very useful for troubleshooting, without always having to be close to a robot.

Best,
Johannes

29
General Discussion / Re: Learning inverse kinematics
« on: May 13, 2019, 08:39:58 AM »
Hello,

Our algorithm in KUKA|prc is now very customized and optimized to resemble the KUKA solver (which is not documented).
But basically the process is not that hard, you just need to split your robotic arm into two parts: One part that contains the first three axes - the one that you can basically solve in 2D, adding A1 afterwards, with very standard trigonometry - and then you treat A4 to A6 as a single spherical joint.

There are numerous implementations around, I'd look for code samples and then compare it with the more mathematical papers.

Sorry that I cannot just copy/paste our code, but it's quite long and much work went into it.

Best,
Johannes

30
Support / Re: I found a strange thins on simulation....
« on: May 10, 2019, 10:06:14 AM »
Hello,

I cannot open the RAR file, but believe that I understand the problem.
As per your previous question - https://forum.robotsinarchitecture.org/index.php/topic,962.0.html - KUKA|prc adds a PTP command to the first LIN to make it easier to get there.
If you have an axis movement first, that doesn't happen, so the robot goes from the Axis-position in a straight line to the LIN position, most likely through a singularity.
So you would need to manually add a PTP there for the first position.

Best,
Johannes

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