Hello everyone, I have a kuka kr6 r1840 robot and I want to import a list of points from a CSV file and create a trajectory from it. I can't use RoboDK because I can't buy the license. I read about ROS but Moveit has no package for my robot so I'm looking for another method but I'm not sure what to do. If anyone has any advice for me I would be very grateful.
Trajectory planning for KUKA KR6 R1840
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user5 -
February 6, 2023 at 12:48 PM -
Thread is Unresolved
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if this is one time deal, format your data and save it as a DAT file.
if that is not practical because data will change from time to time, import it using CWRITE (fopen,...)
btw. not to pick on you but just find it weird that so often forum users post irrelevant info.
in this case stated was robot arm model while question is clearly asking for software support. robot arm is just a piece of hardware. it has NO function in processing or saving program data. stating KSS version or at least controller type would be MUCH better...
it is like asking for help with computer networking and station brand of computer mouse which obviously has absolutely no relevance to network settings.
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Thank you for your reply and I apologize for my way of describing the problem. I am new to robot programming so I thought that only the model of the robot arm is important.
I use KR C5 with KSS 8.7.3
I will change the points from time to time, so I need a practical way to do that. It would be helpful if you could give me an example of this.
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nope... robot arm is just a moving hardware... it is brainless... all intelligence is in the controller and that is where programs reside.
robot arm info is important when discussing reach, payload and attaching things like energy supply, tooling etc. mentioning type of robot arm when asking about manipulating program data is like describing car tires to a car mechanic while asking him to find out why car engine or A/C do not work correctly. or mentioning your shoe size to a waiter asking what food should he bring you. both are irrelevant.
importing data depends on what you are doing and what the program structure is.
for occasional use one can rely on Excel to format and save data in suitable format.
for reasonably small set of datapoints, specially if same point is to be reused, it makes sense to save them (or import via CWRITE) into a program module (SRC or DAT file).
for large set of data, that is not a good idea. it is better to dump the data directly into SRC file(s). this is what cad to path software does. one may need to generate a whole bunch of files in order to not exceed file size limits. the program pieces can still be linked together using main program.
Example CSV data
or in some places:
an example of code for DAT file
CodeDECL POS P1 = {X 1255.1,Y 52.9,Z 1348.44,A -0.1,B 90.115,C -8.89} DECL POS P2 = {X 1255.2,Y 52.75,Z 1348.44,A -0.1,B 90.115,C -8.89}
an example of DAT using array
CodeDECL POS P[100] P[1] = {X 1255.1,Y 52.9,Z 1348.44,A -0.1,B 90.115,C -8.89} P[2] = {X 1255.2,Y 52.75,Z 1348.44,A -0.1,B 90.115,C -8.89} ...
an example of code for SRC file
CodeLIN {X 1255.1,Y 52.9,Z 1348.44,A -0.1,B 90.115,C -8.89} LIN {X 1255.2,Y 52.75,Z 1348.44,A -0.1,B 90.115,C -8.89}
so using Excel one can simply create another columns with separators or use formula to compose correct format or write macro for that etc. or use some programming language (python or whatever)
or....
one can deliver CSV file to robot and read and parse content of the file in KRL using CWRITE functions.