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General Discussion / Re: Master Thesis with used Kuka Robot
« Last post by LisaAlsop on July 15, 2021, 03:02:11 AM »
Buy used equipment whenever possible. It is often less expensive and has less repair work required than new machinery. It might have some defects, but there are often repairmen willing to fix them. It may seem scary at the time, but expenditures have to be made if they will be made on the best equipment available. That's why I always buy all kinds of equipment from these specialized platforms for used machines. The guys from there always delivered me all the items in time, and I am delighted with their quality.
Hello Settawat,

The total program memory on the KUKA is limited, it does not matter whether that is taken up by one file or multiple smaller files, unfortunately.

Support / Re: Can not play paste 1M line program to kuka krc4
« Last post by Settawat on July 13, 2021, 06:47:14 AM »
Thank you for your suggestion.orangeapps it work but I have seen in kuka prc can split line from generating code krl too this can also use, isn't it?

Best regards,

Good Morning,

The tricky thing about this is the data flow in Grasshopper. Let's say you query your digital inputs every 100ms, it means that Grasshopper also creates a new toolpath every 100ms.
In default mode, every time you get a new set of movement commands, the robot starts from the beginning. In iterative mode it waits until it has finished it current set of commands before it moves to the next one, and in queue mode it just queues up commands (which would be a bad idea with a new toolpath 10 times per second).
Only if the toolpaths are identical it will skip them (the definition of "identical" in Grasshopper is sometimes tricky, though).

What I would test is to create a conditional statement (e.g. via Dispatch) in Grasshopper so that depending on your input you either send position B, a wait command, or position C and set the mxA mode to iterative.


General Discussion / Kuka Robot control with mxA in two sections with sensors
« Last post by zihan7g on July 09, 2021, 06:14:37 PM »

we are Construction Robotics students and now doing a project on robot controlling with sensors.

We successfully realize a process on robot with mxA and sensors:
The robot starts moving when the sensors fulfil the specific condition and send data.

We wonder whether it's possible to control the robot in two sections:
The robot is moving from A to B when the 1st sensor sends data (true);
then the robot waits in position B;
until the 2nd sensor sends data (true), the robot starts to move to C.

many thanks in advance
best wishes
Job Openings / Postdoc Researcher - Faculty of Architecture - TU Brno
« Last post by Mrakoplas on July 09, 2021, 09:40:08 AM »
An open call for the position of: Postdoc Researcher: Advanced Design and Fabrication Strategies in Architecture

 FA BUT Brno Brno University of Technology (BUT) is the largest technical university in the Czech Republic specializing in science and technology. Our university is a place that promotes independent thinking and an environment that inspires excellence. Located in the heart of Europe, yet forging connections all over the world, we work together to develop solutions for the actual global challenges. Faculty of Architecture (FA BUT) is one of the eight faculties of BUT. Academic staff of the Faculty of Architecture has the unique and wide experience in field of architecture design and theory, urban planning and heritage preservation. The researchers deal with various scientific projects in different fields that covers many of topics.

Job description The position is devoted to the study of topic related to theme Advanced Design and Fabrication Strategies in Architecture. The main topics that would fulfill this theme (but not limited to) are:
- Digital fabrication and robotics
- Agent-based modelling and machine learning
- Structure optimization and material-based design
- Bionics and living material
- Form follows energy design
- Smart cities and city modelling

The main scope of work will be cooperation in creating an grant application. The position will be supervised by Dr. Martin Kaftan, Department of experimental design at FA BUT. The earliest starting date is August 1st, 2021. The position is developed for the period of 6 months for 1.0 FTE (40 hours a week) for project CZ.02.2.69/0.0/0.0/18_053/0016962 and can be extended in case of successful collaboration. The selected applicant will be provided with all faculty facilities: studios, departments, workshops, library, and all available technologies and facilities at the faculty.  Your profile The successful applicant should be maximum 7 years since obtaining PhD and have research expertise in one or more of the mentioned topics. The applicant has to be a researcher who has worked outside the Czech Republic for at least 2 full years during the last 3 years (as of the date of starting the mobility) in research for at least 0.5 FTE or was a PhD. student abroad (citizens of the Czech Republic are not excluded). Demonstrated dissemination of the candidate's work in the form of publications is also expected. Candidates should speak and write English proficiently, and above all, candidates should be enthusiastic about learning new research methods. We expect the successful candidate having good interpersonal skills, the ability to thrive in a diverse, multidisciplinary environment, and the ability to present work at international conferences.

We look forward to receiving your online application including the following documents: a letter of motivation (cover letter) including a research proposal for his/her position at FA BUT, related needed equipment and proposal to organize seminar/workshop/conference at FA BUT, a CV, electronic copies of your academic diplomas and certificates, overview of publication activities in past three years. Please note that we exclusively accept applications submitted via email Applications submitted via postal services will not be considered. Application deadline is 16 July 2021. For further information about the Department of experimental design at FA BUT, please visit our website: Questions regarding the position should be directed to Dr. Martin Kaftan via (no application submission).
General Discussion / Re: Milling
« Last post by Johannes @ Robots in Architecture on July 09, 2021, 08:41:16 AM »
Here is a milling example from a workshop we did a while back.
It contains German labels, so you might need to use Google Translate a bit, but it should be relatively straightforward.

General Discussion / Re: Milling
« Last post by kabhi19 on July 09, 2021, 08:16:28 AM »
Thank you sir for the reply.
Hello sir, if you example of creating the section curves  and then offsetting them to start from the outside and then move inside, can you please provide?

Thank you

That very much depends onto your application. For example if you want to take elements with a gripper, the orient point isn't much help because you need to pick up and place an object at a specific position.
However if you are doing a process that uses a symmetrical tool - e.g. milling, drawing, sometimes also 3D printing or welding - then you can use the rotation around the tool axis as a degree of freedom that allows you to optimize reachability.
We have experienced the Orient Plane to be useful for that, but as with all things involving programming, there are countless ways to achieve something.

General Discussion / About function of the component "Orient Plane-KUKA|prc"
« Last post by LzYzL on July 06, 2021, 06:46:54 AM »
Thanks for your reading.
I've found that this component will rotate planes around their Z-axis and I wonder why the component can facilitating reachabilyty in this way.
By the way,how can the Orient Point define the angles that the planes rotate?

Best wishes
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