Orient Positioner

[CharlesBo]

Hi all,

I've looked through the forums and followed the advice with setting up a positioner, and have been 95% successful;

- The robot is correctly oriented in the rhino scene
- The positioner is the correct distance from robot
- E2 rotations appear correct in simulations

I have two final issues I'm trying to address.

The first is the positioner needs to be rotated 90 degrees to be accurate to our setup, so the E1 tilts towards and away from the robot. This I assume is done through the Positioner Root Frame, but when I click it nothing pops up or makes a request etc. I'm not sure what's suppose to happen, but I assumed a menu would appear?

The second thing is more a discrepancy than anything else. My KUKA settings on the pendant shows the positioner has a z value of -826 which, when I type that into the gh component is way below where it is in reality. Again this might be solved with the positioner root frame, but I could be wrong?

[Johannes @ Robots in Architecture]

Hello,

Where are you changing the positioner root frame? If you right-click the positioner component you can - in your case - change the A value and it will rotate it (or more accurately the robot in relation to the positioner).
When you say -826, do you mean the height of the floor, measured from the positioner? I measured the DKP and that sounds plausible, or at least not off by a lot.

A good way to verify the position of a turntable (without using the built-in calibration tools) is to equip the robot with a well-defined tooltip and then get the global, Cartesian position of the same point on the turntable using different E1 values for rotation (e.g. 0, 120, 240). In Rhino/GH you can then create a circle from 3 points and extract the center point.

Note that KUKA|prc assumes that you are using an Offset Base - don't use those values for that, because then the coordinate system rotates along and you get the identical values, no matter the rotation. So switch into a global coordinate system instead.

Best,
Johannes