Recently we purchased a kuka KR6-R900 robot, with KRC4 compact and KSS 8.6.6. We would like to conduct research of online trajectory generation based on this robot, which means we want to control each joint displacement, velocity and acceleration in real time.
We have tried to program the robot with KRL, though each joint can be controlled, the velocity and acceleration cannot be controlled accurately and in real time. I believe this is the limitation of KRL since robot controller generate its own trajectory and KRL cannot override this trajectory. Perhaps the only solution is to skip KRL and program each joint motor directly. Could someone please point the correct direction how can we send displacement, velocity and acceleration command directly to each joint? We have RSI, mxautomation package and an additional PLC controller.
thank you for any advice.