Details of the KUKA robot:
KUKA AGILUS KR10 900
KSS version is V8.3.30
KRC4 10
Hi all,
I am working on Kuka robot for some time now, I have a trouble with the sudden jerks seen in the motion. I am not able to come up with a good idea to solve or if I am missing any function provided by KRL.
So the situation is like, I am using robots in real-time motion with the data coming from some sensors. I have the higher level program which controls the motion of the robot, when I stop or pause the higher program for debugging or so, then after starting back the program the robot sees a huge input coming. The robot accelerates from zero speed and gives back a harsh jerk on the support of the robot.
I was thinking of giving a ramp up to the input, but i guess would impact the performance in terms of delays. Any better idea?