Recent Posts

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11
Support / Re: axis errors for continous circular movement
« Last post by jason_r_Crow on January 10, 2020, 06:58:37 AM »
Hi Johannes,

We think we have tracked down our problem. We can get the simulation and the real robot to match fairly well, but when KUKA PRC generates the code, the tool settings are over-rotating on the B-axis. Basically, to get the tool setup in the simulation to match the robot, we are rotating B -90 as you suggested. We are using the ABC 2-point method to calibrate the tool, as it makes the most sense relative to how the tool is designed to move.

If we use the xml file as generated from Kuka PRC, we get an unreachable point error. I have attached an example file X_and_Y_lines.xml.
If we edit that file and change the B-value for the frames where we are making are linear moves, it works. I have attached the working modified xml file X_and_Y_Lines_B_Rotate.xml.

Basically what we are doing is changing these lines:
-<PRC_CMD>
<TYPE>LIN</TYPE>
-<FRAME>
-<FRAME>
<X>179.41107177734375</X>
<Y>-109.59288024902344</Y>
<Z>51</Z>
<A>0</A>
<B>1.5707963267948966</B>
<C>-0</C>
</FRAME>
</FRAME>

to this:
-<PRC_CMD>
<TYPE>LIN</TYPE>
-<FRAME>
-<FRAME>
<X>179.41107177734375</X>
<Y>-109.59288024902344</Y>
<Z>51</Z>
<A>0</A>
<B>0</B>
<C>-0</C>
</FRAME>
</FRAME>

Our tool INIT is:
-<INITTOOL>
-<FRAME>
<X>0</X>
<Y>0</Y>
<Z>175</Z>
<A>0</A>
<B>-1.5707963267948966</B>
<C>0</C>
</FRAME>
</INITTOOL>

which makes sense from your instructions and from the simulation in Grasshopper.
Any idea why the B is being over-rotated?

Jason

12
Job Openings / Robotics Technician at the AA Digital Prototyping Lab!
« Last post by Angel Lara on January 08, 2020, 01:23:54 PM »
The Digital Prototyping Lab (DPL) is seeking an enthusiastic and dedicated individual to join the team and become an integral part of the AA’s digital fabrication facility.

With a major upgrade just completed, the DPL now has a custom-built robotics cell, which houses two KUKA robotic arms for use in architectural education. The role of the Robotic Fabrication Technician will be to provide crucial expertise in robotics by teaching, supporting and developing student projects. This role also means working closely with DPL staff to maintain the smooth running of the lab, including the supervision and teaching of students using laser cutting, CNC milling and various 3D printing technologies.

The Robotic Fabrication Technician will report to the Head of Digital Prototyping and collaborate with DPL staff and student assistants

Apply following the link below!

https://www.aaschool.ac.uk/APPLY/JOBS/admin-jobs.php#roboticsfabricationtechnician
13
General Discussion / Re: TIME VALUE (KUKA PRC Analysis data)
« Last post by Johannes @ Robots in Architecture on January 07, 2020, 07:43:58 AM »
Yes, just note that KUKA|prc always assumes mm as units, even if you have set Rhino to e.g. meters.

Best,
Johannes
14
General Discussion / Re: TIME VALUE (KUKA PRC Analysis data)
« Last post by ahmedshingaly on January 04, 2020, 03:26:41 AM »
thanks alot for the quick reply.

If I understand correctly, the TIME VALUE is the speed of the kuka moving from point A to point B and the unit is whatever rhinoceros local unit system is divided by seconds.

thanks for the valuable information

Ahmed
15
General Discussion / Re: TIME VALUE (KUKA PRC Analysis data)
« Last post by Johannes @ Robots in Architecture on January 03, 2020, 05:14:20 PM »
Hello,

As KUKA doesn't publish any acceleration and deceleration ramps, the time is simply distance/speed. The unit is seconds.
So it's not super accurate for processes that often change speed, but relatively precise for processes with constant speed such as extrusion.
You can use e.g. the last time value for Galapagos to optimize the process time.

Best,
Johannes
16
General Discussion / TIME VALUE (KUKA PRC Analysis data)
« Last post by ahmedshingaly on January 03, 2020, 09:09:41 AM »
Dear KUKA PRC community,
I was wondering if you could inform me on the unit of "TIME VALUE (TIME) AS TREE" from kukaprc core>> analysis data output. are the output numbers seconds, minutes, travel distance. could you explain the properties of this output?

I would appreciate any information

Best Regards

Ahmed Ali
PhD in Architecture
Chung Ang University 
17
Support / Re: [bug] turntable visualization error
« Last post by Johannes @ Robots in Architecture on December 31, 2019, 04:25:01 PM »
Hello,

Sorry that it took a while.
The reason for the problem was rather simple but took a while to find: You had the low-resolution robot model enabled and it seems that I made a mistake with the position of the low-resolution DKP400.
It will be fixed in the new release, in the meantime simply disable the "Render Low-Resolution Robot" option in the settings.

Best,
Johannes
18
General Discussion / Re: remote desktop over KLI?
« Last post by Johannes @ Robots in Architecture on December 31, 2019, 03:49:53 PM »
Well, if the smartPad is working then RDP should be fine. The default port for RDP is 3389, however I would be very careful with any network/firewall changes as that might lock out your smartPad.
You could also try to start the robot without the smartPad and see if you can connect then. Or maybe try RDP with another PC and make sure that no antivirus/firewall is blocking RDP on the PC side.

In the meantime, you can also consider using another tool like VNC to get the content of the smartPad.

Best,
Johannes
19
General Discussion / Re: remote desktop over KLI?
« Last post by evo85210 on December 31, 2019, 03:37:56 PM »
yes, i know the username and password of the login, the problem is that the remote desktop connection doesn't detect the controller.
as seen in the attached screenshot, I can access \\172.31.1.147, but RDP does not detect it..
20
General Discussion / Re: remote desktop over KLI?
« Last post by Johannes @ Robots in Architecture on December 31, 2019, 12:18:53 PM »
Hello,

That is possible, but note that it will disconnect the smartPad's remote connection. You will need to rotate the key switch and connect again to use the smartPad.
The login should be kukauser with password 68kuka1secpw59

Best,
Johannes
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