How to get the accurate trace with KUKA SIM

[zqzx0608]

I am studying KUKA SIM and got some skill. I try my best to get accurate trace like welding curve etc. Who can tell how to get it with KUKA SIM. Could give me some book to master KUKA SIM . Thank you!

[kr16_2]

i think KUKA SIM was design to give good overview of the process and to do rough cycle time analysis.
I dont think this program will get you accurate path.

[mookie]

kuka sim doesnt give you a bad path at all. it just comes down to the whole virtual vs real world scenario. Im currently working on a system that we conceptualized in sim pro. when it got on the floor it really wasnt that bad. there are some white lies embedded in there but for the type of system im working on ....

[zqzx0608]

Thanks for your ealy reply. I got some Video form youtube.com.
<a href="http://www.youtube.com/v/mco7m0DTKDc&rel=0" target="_blank">http://www.youtube.com/v/mco7m0DTKDc&rel=0</a>
I think KUKA sim can do some accurate path like that. I need help!

[kr16_2]

So that was done with SimPro programming (I am not familiar with it) ?
Or program was developed on OfficeLite\OfficePC with KRL and visualized with SimPro?

[zqzx0608]

I am not sue. But watching the  the background,I think it was done by KUKA SIM.

[SkyeFire]

Generally, any sim system can produce a robot path that is as accurate as the robot (barring certain special cases).
The problem is that the physical construction of a cell is often not exactly the same as the simulation.    Making a simulation path work properly in the real world depends on bringing the simulation and the real world into agreement.

The best technique I have ever seen to rectify this is to create an external Base frame on the object(s) where you need path precision.  This Base frame must be made using physical points that the robot can touch with high precision in the real world.  The simulation must use these very same points.
Then, in the real world, use the robot's built-in 3-pt Touch method for creating the Base frame.  If the physical points agree properly between the real world and the simulation, this should bring the two Base frames into very close agreement.  Any program generated in the sim using that Base frame should be quite good (not perfect) when exported to the robot.

For some high-precision applications, one can use a laser tracker and mathematics to generate a real-world Base frame in the robot that matches the simulation Base frame nearly perfectly (generally to less than the accuracy limits of the robot).  I've seen this approach bring the simulation program to within 95% or better completeness on the first export, before any manual tweaking was performed.  However, this requires someone who understands what they are doing.

[TylerRobertson]

For some high-precision applications, one can use a laser tracker and mathematics to generate a real-world Base frame in the robot that matches the simulation Base frame nearly perfectly (generally to less than the accuracy limits of the robot).  I've seen this approach bring the simulation program to within 95% or better completeness on the first export, before any manual tweaking was performed.  However, this requires someone who understands what they are doing.

and would make my job much easier!   

[SkyeFire]

In general, I've found that a good laser tracker operator with a copy of Spatial Analyzer (and training in how to use it) can pretty much handle the entire process, with some practice.  Unfortunately my employer won't spring for the $$$ for me to have those tools myself so I can experiment with realtime tracker guidance of the robot....

Really, the issue comes down to two things:  being able to do good conversions between reference frames, and being able to accurately establish those frames in the first place.  As long as you can get accurate data from the design model of where certain tracker-indentifiable features are in both the sim's reference frame and the robot's reference frame, you're almost home free.  It's just a matter of measuring those points in the real world relative to the real-world robot frame (which can be a bit tricky to measure, but isn't hard as long as you're careful), and building the conversion (or, in a KUKA, using the 4-pt indirect-reference base frame tool).