Newbie question plots

[nagmeshkumar]

Can I plot or get the end effector coordinates(x,y,z) velocities and accelerations versus time?
Also is there any way that I can record motion (x,y,z and respective velocities) during force torque execution??

Any suggestions..?

[SkyeFire]

You're using kuka Force-Torque?  That means you have RSI installed -- in the D: drive, under the RSI directory (you'll have to dig for it), there should be a small .exe file called RSIMon.  This program will monitor data streams sent from the robot and log them in real time.  It's a poor program for looking at the data, but it will also output the data to a CSV-style text file that can be loaded into Excel.

Sending the data streams to the RSIMon will require some work.  You'll need to read the PDFs in the /RSI/DOC directory, and create an ST_MON object and link certain system variables to it.  When you get this right, the ST_MON object will stream realtime data (every 12ms) to the remote PC running RSIMon, where you can save and analyze it.

[nagmeshkumar]

Firstly Thank you for the reply.

I am using FT RSI but I can view only forces and torques. The coordinates and velocities are not visible.In the program I use FTCrtlMonitorOn/Off to see the FT values from the desired point of interest. Is there any special command for viewing coordinates and velocities?

[SkyeFire]

Well, the ForceTorque Monitor object is simply a predefined implementation of the regular ST_MONITOR object.  So, you have two options:  tamper with the setup of the standard FTCtrlHMon object (not recommended), or stop using the regular FTCtrlHMon object in favor of a self-constructed ST_MONITOR object that includes the same data channels that FTCtrlHMon does, as well as the additional data channels you desire.  ST_MONITOR limits out at around 24 separate channels, IIRC, so you shouldn't have much trouble.  You can reverse-engineer the FTCtrlHMon object by looking through rsiftctrl.src and rsilib.src.  

[SkyeFire]

Ever have one of those days where you give someone advice that's not, well, bad, but isn't as good as it could be, because you just weren't thinking very well that day?  Well, that post above this one is a perfect example.

Creating a new ST_MON object isn't necessary.  It also isn't necessary to tamper with the creation of the FTCtrlHMon object.  It should (I can't guarantee it, as I've not tried it myself) be possible to simply use ST_NEWLINK to add your own inputs to the FTCtrlHMon object.  You could also probably use ST_DELLINK to clear space, or ST_CHANGELINK to simply change connections on the Monitor object to your own signals, but that's a bit more complex.  You definitely want to do this during your initialization phase, before you engage your ST_ON command.