So I'm curious if there are any common issues controlling a KUKA robot with EthernetRSIXML. I've set up the robot to run from an external PC, and whenever I send a single correction to the KRC (AKorr or RKorr) it does what I expect it to do (the robot moves to the desired position.) However, when I send a series of corrections (a pre-computed trajectory divided into 12ms steps) the robot moves toward the desired position, but never gets there. Now I can wrap a controller around the output to make the robot get to where it's supposed to, but why will it not finish the trajectory in the first place? Any thoughts? Thanks,
Issues Controlling KUKA Robot with RSIXML
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gtrobot -
June 19, 2013 at 5:58 PM -
Thread is marked as Resolved.
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It's hard to say precisely without a better understanding of your setup. Generally speaking, however, RSI is for realtime control -- if you send a second correction value before the robot has finished physically responding to the first correction value, the first trajectory is, in effect, cancelled in favor of the new correction. RSI is intended for linking sensors directly to the path planner in realtime, rather than running pre-plotted trajectories. So if the deltas of your pre-plotted corrections don't match up to the sensor you're trying to simulate, I would expect the robot to behave differently than expected.