Hi to everyone,
We are working with a KUKA KR30-3 Robot (system software 8.3 version, KRC4 standart, Profinet 3.3 version) including the SafeOperation package 3.4 version.
For our application, we have an end-effector and a number of taught points, where the robot goes and does simple pick & place operations.
Due to operator faults, sometimes the end-effector has a small collision, causing a slight tilt and as a result the robot is not able to firmly grasp and place the parts.
For the moment, the only way that we are able to solve the issue is by going to the already taught points and do a touch up with a new point.
Unfortunately, due to the geometry of the end-effector and the availabily of experience of the operators, it is not possible to define a new tool frame and simply modify the previous one.
So we would like to create a function, were we would be able to:
1. create a fixed point where the gripper can be manually moved by jogging the robot - visual marking is used to get a good accuracy
2. after collision, move the crashed end-effector to the same point as in 1. and align the visual marks,
3. compare the pose without crashing (initial) with the pose of bullet 2. (actual position)
4. calculate the difference and update the tool frame data
We would appriciate any thoughts on the validity of the approach.
Any advice would be more than welcome.
Thanks!
