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Messages - Johannes @ Robots in Architecture

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31
Support / Re: Sanding elipses using a fixed tool
« on: September 24, 2018, 06:40:25 PM »
Hello,

Here's a quick example that should help you get started polishing the wood ellipses.
You see that A6 is running into its limitation, so you may need to set A6 on your robot to infinite rotation, which of course complicated the air supply for the gripper.
Maybe make sure that the robot starts close to the negative limit and then only turns in the positive direction.

Best,
Johannes

32
All the best for the future, Akanksha!

33
General Discussion / Re: WISH : Analysis - Null Axis values if out of range
« on: September 20, 2018, 10:51:19 PM »
Here's an example to illustrate it.
The first PTP and LIN positions are outside of the A5 reach, so that A5 is 1. The next position cannot be reached at all, which is why all axes are at 1. The axis value that you are getting is only the (more or less) maximum extension so that you can see where the unreachable position is located at. I believe that's better than just having the robot disappear when there is no mathematical solution.

Best,
Johannes

34
General Discussion / Re: WISH : Analysis - Null Axis values if out of range
« on: September 20, 2018, 10:02:00 PM »
Hmmm... I wasn't able to replicate that, see the attached screenshot.
It may be that your position is completely out of range, i.e. unreachable, no matter the axis limit? Like e.g. when you put a position 10.000mm away from the robot's center.

Best,
Johannes

35
General Discussion / Re: Virtual Robot for KR150 2000 Series (or Similar)
« on: September 20, 2018, 09:56:01 PM »
Hello,

The "KUKA KR150-240 -2" should be the right one. But there are also additional versions like e.g. KR150L130 that are longer and therefore support less weight.
To be on the safe side, move your robot into its standard home position with A2 at -90 and A3 at 90 and then get its Cartesian position with both tool and base set to 0.
Make a point with those coordinates in Rhino/GH and check if it corresponds to the digital robot.

Best,
Johannes

36
General Discussion / Re: WISH : Analysis - Null Axis values if out of range
« on: September 19, 2018, 07:50:03 PM »
I'll look into the all 0/1, but the ten values refer to a maximum of 10 axes, 6 + 4 external ones.

Best,
Johannes

37
General Discussion / Re: WISH : Analysis - Null Axis values if out of range
« on: September 19, 2018, 06:59:56 PM »
Hello,

For me the problem with NaN or null is that it doesn't tell you if it's exceeding the range in positive or negative direction.
We already provide the Reachability output in the Analysis component - doesn't that do the job?
You could just replace the axis values with NaN based on that output, if you want to.

Best,
Johannes

38
Hello,

Well, I'd say it depends on which direction you want to take, if you want to work at a company, found a startup or do academic research.
I'm guessing that you are outside the EU and US, so it may make sense to enroll for a relevant Master or PhD program, also to acquire skills with robots. There are several countries in Europe with good academic programs and very low or free tuition. Note that there are usually restrictions on how much you are allowed to earn with a student visa.
I don't think your nationality is a problem - you just need to be allowed to work in the EU or UK, you don't need to be from there. I would assume that if you finish an academic program it would be easier to get a work permit in that country, but I'm really not an expert.

Hope that helps a bit!
Best,
Johannes

39
Sounds good, will look into that. I'll need to look into the most understandable CNC terms for it. Probably Rapid for Flyover, Approach and Retract?
Best,
Johannes

40
Support / Re: Collision and Unreachable Position Detection
« on: September 13, 2018, 12:00:55 PM »
Hello,

Can you maybe internalize the plane input? That way it's static geometry and we don't need the custom DLLs.

Best,
Johannes

41
Support / Re: Collision and Unreachable Position Detection
« on: September 11, 2018, 04:27:58 PM »
Hello,

My guess would be that the unreachable collision occurs in-between two movements. If you disabled it, make sure to enable the Interpolate Toolpath option in the Advanced Settings, and if it's on, try changing it to a lower value like 1mm.

Also, you get the collision value for each joint, so consider using Mass Addition to sum them up!

Hope that helps!
Best,
Johannes

42
Support / Re: LIN Speed Synchronization including PTP
« on: September 03, 2018, 06:22:11 PM »
Hello Sam,

I don't quite understand the idea, you want to have LIN and PTP motions with the same speed? That will be tricky, as they probably also have different acceleration and deceleration curves.
PTP is always set by the slowest axis involved in a motion, so movements can have very different speeds.
If you describe what you want to achieve, maybe I can help you find a walkaround.

Best,
Johannes

43
Support / Re: Fusion nc import optimum settings
« on: August 31, 2018, 03:38:33 PM »
Hello,

I'm sorry for the confusion, I will word that differently in the next release.
The KUKA|prc message refers to the toolpath reduction inputs, where you can additionally reduce the complexity of a toolpath, which in my experience doesn't work so great in Fusion.
So you can leave the Fusion settings at the default!

Tolerances of 0.1mm and less will also lead to HUGE files. Always consider that your robot is probably less accurate than 0.1mm, at least when you calibrate the tool manually it's VERY hard to get better accuracy than 0.15mm. The same applies to the mechanics of the robot.

Best,
Johannes

44
Hello,

Are you sure that you installed the software?
You should have a KUKA|prc V2 tab in the upper row of the GH window.
Is it there?

The screenshot was tiny, so I couldn't see much.

Best,
Johannes

45
Hello,

What would be your questions?

Best,
Johannes

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