KUKA:
Robot: KUKA KR10R1100
Controller: KRC4
Firmware version: v.8.3.39
Workvisual version: 4.0
Hi all,
For my application I need to scan a surface with my tool(example shown in attachment), but I can’t find a way to scan the surface without having unwanted motions between some of my points.
Context:
My application requires that the robot scans all the surfaces of a large complex part with the tool at a constant distance and perpendicular to the surface. It means I can’t use PTP motions because the trajectory can’t follow these requirements. The trajectories are generated by an in-house program, but I can edit them to some degree.
My tool has a built-in mechanism to change the orientation of the scanning tip to 3 positions: 0, 45 and 90°. Ideally, each surface must be entirely scanned without a change in the orientation tool, and we would like to keep only the tool we have for the entire part.
The part position from the robot frame of reference is fixed. I can’t really play on that parameter.
What I've tried so far:
I started with basic LIN motion and found lots of singularities in the trajectories. Tried with PTP motions and realized that the trajectory between two points doesn’t suits my needs.
As I’ve seen suggested in a question about singularities, I tried offsetting my tool to solve the issue. I ran hundreds of simulations with every imaginable tool offset in RoboDK and no offset completely solves the issue. I still need PTP motions in my trajectories.
I also tried to program each line of scan into a spline, but even that way I get the strange joint motions to realign the tool as the PTP motions sometime do midway through the spline.
Now I’m out of ideas to solve my problem. I’m questioning if it’s even possible to do the motions I need to do. I’ve only been working with robots for the past few months, so I’m a bit inexperienced and might have overlooked some easy solutions.
Does anyone have suggestions on what I should try next?
Thanks in advance for your help
TLDR: Can’t find a way to follow a trajectory exactly. Tried with LIN and SPLINE, offsetting the tool is useless and I can neither move the robot frame nor the part.