Hi,
Is it possible to config the external axis to have the mathematical relationship with TCP velocity?
that means the rotation speed will follow the tcp's speed?
thanks!
Hi,
Is it possible to config the external axis to have the mathematical relationship with TCP velocity?
that means the rotation speed will follow the tcp's speed?
thanks!
Probably, yes. It depends on your machine configuration. With a kinematically integrated external axis, it's easy -- that's how the two-axis arc-welding tables that KUKA sells as robot accessories work. If you're talking about asynchronous axes, or axes that are not kinematically integrated, the question becomes more difficult, but probably not impossible.
thank you , SkyeFire
yes, the two-axis arc-welding tables I know , but it is the TCP follow the extern axis.
my application like this:
robot carry the part and touch touch the edge of the wheel ,that is the external aixs. then robot moves, the wheel begin follow the moves. the linear speeds of the touch point are the same.
I have no idea about how to implement it
Hm. Well, you could use the integrated kinematics, and "lie" to the controller -- tell it that the rotary axis is actually a linear one. You'd have to tune the $RAT_MOT_AX value of the Ex axis carefully until you got a near-perfect match, and you'd have to align the "linear" axis very precisely tangential to the rotary wheel. But it could be done.
Another way might be to keep the axis synchronous, but not use kinematics -- instead, bring the tool into contact with the wheel at a fixed point, non-approximated. Then begin a LIN motion of the TCP including an Ex value of the same distance. This should keep the TCP and the motion of the Ex axis time-synchronized. But you might need to do some tweaking of the Ex axis's acceleration profile to get it perfect.
Since you are turning the wheel with an Ex axis, I don't think Conveyortech is necessarily needed, but it might make this application easier.
Then, of course, there's RSI, which you can do almost anything with, but that's probably overkill for this application.
Conveyor tracking maybe ?
thanks all
I prefer RSI , I have test some code, I will integrate them and test again.
these posts help me a lot
https://www.robot-forum.com/robotforum/kuk…locity-control/
https://www.robot-forum.com/robotforum/kuk…60002/#msg60002