KRC 4-8.3.38
How can you find out the Frame for the base if it is anchored to the center of the manipulator?
KRC 4-8.3.38
How can you find out the Frame for the base if it is anchored to the center of the manipulator?
describe this ... "manipulator"...
normally this term is used to describe robot arm
frames associated with robot arm are tools or workpieces.
frames called base are elsewhere in space, either stationary or on some positioner.
I am just trying to figure out what you actually want to know
How do you define the center of the manipulator? Is this the Tool Center Point (TCP)?
Is the TCP relative to the $BASE or $WORLD?
Sorry, I'm not very good at terminology. I use translator...
positioner that rotates the workpiece.
Frame base 0.0.0.0.0.0. but it is tied to the center of the positioner
try harder....
so single axis? does the robot know the angle of the rotation?
3 external axles. I found a function BAS(#FRAMES) that assigns $ Base but after checking the variable the frame is not updated ...
Can someone help?
well some have tried... but you are not answering questions and and i am not going to force you.
I am just trying to figure out what you actually want to know
How do you define the center of the manipulator? Is this the Tool Center Point (TCP)?
Is the TCP relative to the $BASE or $WORLD?
I want to know the frame of my base relative to the world at a given moment, while taking into account the angle of rotation of the positioner, since the base is tied to the center of the positioner.
the robot knows the angle of rotation.
well some have tried... but you are not answering questions and and i am not going to force you.
I thought I answered your question ...
3 external axles. I found a function BAS(#FRAMES) that assigns $ Base but after checking the variable the frame is not updated ...
If I understood correctly, you have a turntable with a base at it's axis of rotation. You want to calculate the the new base, depending on the turn angle of the table. That's easy:
Assuming table's axis of rotation is base's Z axis/ angle A (and they rotate in the same direction)
CorFrame = $Nullframe
CorFrame.A = TurnAngle
NewBase = TableBase : CorFrame
If they don't rotate in the same direction, just put minus before TurnAngle
Quote3 external axles.
by describe it i meant - describe it. is this some KUKA kinematics or custom unit?
total number of external axes does not matter. what matters is how many of them are in kinematics that affects your base including geometry, how they are used etc. none of this is stated.
there is a difference between two separate axes and two axes integrated into single kinematics like DKP. you mention three axes so... is it KP3? i guess E1 is linear rail with robot on it. E2 and E3 are individual (and independent) single-axis rotary positioners.
show axes setup and kinematics transform. how is pin defined? show it on photo so it can be compared to kinematics transform.
maybe this give you an idea
Thank you. You understand everything correctly.
I have this data ... I just need to flatten all these data and add the angle of rotation of the positioner ...? I thought that the robot has a standard function or variable that will show this frame automatically ...
robot has standard functions for many things such as
define kinematics transform, enter location of root point, perform root calibration etc.
specifying root point works great in CAD but sucks in real world because the guy anchoring the positioner to the flor has no control of how level the flor is and certainly cannot place it within 0.01mm or 0.01deg of your computer model.
so solution is to let robot figure out REAL location of the root point in space. this is done using standard function called root point calibration. this is explained in detail in manuals. but to use this calibration, you need point that is not at the center of the flange. this is why PIN need to be offset. on KUKA positioners this is some 200-ish mm (210mm?). the bigger the distance from center the better... (more accurate calibration)
if you have incorrect transforms, of course this will not work... but if you have a positioner that only has single axis (like your positioner), you can cheat if needed. that means you could clear out all values - except the value for pin offset from center of the flange (last frame in the transform).
Thank you very much. Where can I find a description of the EK function. There are many mentions on the forum but I can't find a description ....