dear ladies and gentlemen,
i am a junior research associate a we are regularly researching on wireless power transfer systems linked with autonomous driving (WPT-systems) .
in one of the tasks we wanna create a look-up table of an inductive localization system, where inductive voltages, which depends on a planar disposition, will be noticed / measured.
so far, i never had contact with kuka robots and stuff around (please consider that, if you give an advice like "ahhh just tune parameter xyz, and abc, and uvw"). also consider, that this working task here is meant to be a prototyping-like issue, means we do not have the human and financial resources to modify the second-hand kuka device, we're having limited access to, time and we won't using it multiple times.
in last two weeks, i was partially trying to get familiar with the kuka system . i downloaded and used the evaluation version of kuka sim, because i wanted to test certain movements / codes, before i will turn on the real robot.
the kuka device, we're having access to, is the following (legacy?) setup:
controller: KR C2 ed05
robot: KR 240-2 F 2000 (in panel info area listed as KR 2240-2 F)
linear extenal axis: KL 1500-3
software and options: kcp_info.png in my nextcloud ('coz limited attachment number here)
the place, where robot is located, is pretty "crowded". actually there is only one spot, where we can get satisfying displacements. see attached robot_enviroment.png .
the / a WPT-system generally consists of a primary and a secondary side. you can imaging both as a rectangular planes with a certain thickness.
the primary coil-side needs to lay on the ground (for realistic behavior (right above / on ferro-concrete)). the secondary coil-side will be covered by an 1.5 x 1.5 m aluminum shield (so called vehicle mimic plate) and is directly attached to robot's flange.
i also uploaded a schematic demonstration video with a reduced / simplified "calibration grid".
see simplified_simulated_array_run.mp4 under https://nextcloud.ifak.eu/s/of5LNnR9HP47Mb3
as you can see, i want the "tool" keeping same orientation over all grid points. later... in real, we wanna granulate the grid to about 100 x 100 sections by an area of about 2 x 1.5 m (x, y)
when i was trying to implement such simplified code into my kr c2, i crash landed..
- obviously the krl syntax has changed, so sometimes i need to use "DECL", sometimes not. for-loops don't run with "STEP 1" suffix, and so on
- second, while moving robot's flange to grid points near to the linear axis, the program is halting with errors like "some axis velocities got over 208%"
- third also in the near of some of that strange-behavior-points, my robot's wrist (?!) is moving, so the orientation of moving secondary side will not be kept ( in world coordinate system-expressions: A, B and C are changing even if one is steering an x-y-movement, like before)
after some researches and a quite good video on youtube, i am with the fact, that i have a singularity problems (
a kuka's customer support member gave me the hint, that i probably could keep "tool"-orientation with " $ORI_TYPE = #CONST ", but when i m adding this, i only get error #2326 "expected name".
so does anyone has a cool idea, how i can get my kuka to hopefully reach all grid points with constant orientation of secondary coil (tool)?
theoretically, if I am correct, it follows from the youtube video that I could add an auxiliary construction to the flange to ensure that, for example, A4, A5 and A6 are never in line when traversing the array.
That would mean that I could / have to, e.g., attach the wpt's secondary side to the flange at such an angle that the resulting angle between the tool and the flange is greater than theta, which in the sketch occurs at maximum or minimum deflection, right (see sketch.png under https://nextcloud.ifak.eu/s/of5LNnR9HP47Mb3?path=%2F) ?
if someone could help, especially related to ooold. kuka systems, i would appreciate (-: