Dear All I need help on following task I want to do with KUKA robot:
Robot will move a part in front of a detector. The movement is actually changing the orientation of the part with respect to the detector which makes it possible to scan the part with detector from all angles. To do so, we need to bring the part in front of the detector and move it 180 degrees in horizontal axis and 180 degrees in vertical axis very accurate and as fast as possible.
- The measurement command to the detector is sent from computer by mean of a pulse edge. In other world, imagine we want to have sample every 1 degrees, then computer needs to know exact orientation of the robot and decide to send the detection command to detector couple of milliseconds before robot moves 1 degree. because detector needs time to read the values and send it to computer.
I have different scenarios in my mind but the most feasible one is that we can let the robot move the part and take its position and orientation and start measurement as PC think it is better. To do so, I need to have fast and robust interface between robot and computer; which leads us to use other facilities rather than analogue in/outs. One way is using KUKA ETHERNET KRL XML which I am not sure it can update the computer with robot position very frequently, e.g. in less than 10 milliseconds. The other option I found is Robot Sensor Interface RSI for that again I am not sure it can full fill our demands.
can you please help me with choosing a package for our application? The other criteria are I am beginner with the KUKA; So, the easier way is more welcome.