Hello Robo-specialists,
Robot: KR3
Controller: KRC4 running KSS 8.3.30
I am well aware of the palletizing threads and used the programs posted by Skyfire as a reference to build my own. The thing is, while testing the algorithm I kept the orientation of the tool fixed. I am trying for fill boxes with mushrooms, what I did so far works for one type of boxes. I was surprised by the fact that they use a different type of box that has 'lips' on its sides ( please look at the pic I attached). I believe I need to enter the box at different orientations under the 'lips'. I am not sure how to do this using loops? I thought of splitting the box into a geometrical positions, i.e. a matrix of coordinates and then command the robot to enter at different orientations where the lips reside. Any better ideas?
Thank you so much and sorry for making this post an essay