Hello! I was wondering if this can be done or if anybody already tried to program KUKA robot with lead through like on this video: The easy way of programming ABB robots I was thinking with option with soft servo mode on all axes, but define the parameters curr_red so that axis 2 and 3 don't fall down.
Any opinions or solution are welcome
Lead through programming with KUKA
-
DannyDJ -
February 7, 2013 at 9:52 PM -
Thread is marked as Resolved.
-
-
KUKA has a package that does this, utilizing SafeOperation and RSI with a joystick mounted to the end effector. Moving the robot around via a force-torque sensor in the tool probably wouldn't be too much of a stretch.
Trying to use Torque Mode won't work, b/c you can't have that active while jogging the robot and teaching points. The ABB in that video is obviously using a force-torque sensor (well, given the operator's actions, probably only force, no torque). That would not normally be safe, so there must also be ABB's equivalent of SafeOperation involved.
-
I agree. With RSI you mean Robot Sensor Interface? Connect the force sensor on the tool with RSI. And what would be purpose for using Safe Operation? What about Force Control package?
-
Force-Torque Control (FTC) is simply a specific application of RSI.
SafeOperation would be required b/c RSI/FTC can only control the robot while the robot is active in Auto mode. Having a human operator within physical reach of the robot under these conditions would be entirely unsafe without also using SafeOperation.
As I recall, the KUKA package with the tool-mounted joystick added some menus to the HMI to allow points to be recorded or touched up while the robot was in this condition.