I am looking into the viability of recording the path information (joint and Cartesian positions every 20 milliseconds let's say) while jogging the LBR iiwa with the teach pendant. My intuition is no, since I believe I cannot run an application while jogging the robot in T1 mode. If anyone can confirm that or has a way to record data while jogging the robot, that would be great. Thanks in advance!
Record and Store Path Data while Jogging LBR iiwa
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hmz03 -
May 30, 2023 at 12:41 AM -
Thread is Unresolved
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panic mode
May 30, 2023 at 2:48 AM Approved the thread. -
panic mode
May 30, 2023 at 2:49 AM Moved the thread from forum KUKA Robot Forum to forum KUKA LBR IIWA. -
one can create program to record set of data points while robot is moving (manually or by program) on any robot. LBR is no exception. but since this is a collaborative robot - one can also use other options like hand guidance, or run program and then while the program is running, manually move the robot arm to desired points off programmed path. simply make sure to set the LBR into compliant mode.
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Thanks a lot for the answer Panic Mode. I tried to look into the manual a bit more. If i interpreted correctly, I guess I could create a background task to record the data points while the user is jogging the robot manually using the smartPAD. Is that one of the method you were referring to?
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that will work
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Sounds good. Thanks a lot for the help!
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Hello hmz03,
Here are some more tips.
1. Make a CyclickBackgroundTask with 20ms period.
2. Inject LBR and use its getCurrentCartesianPosition()
3. Modify the instance variable as you wish (e.g. "x,y,z,a,b,c" in String)
4. Find a way to save data consequently. You could make a txt or csv file to save each data with line separated. Or simply throw data to external PC with ethernet comm. and deal with it on PC side.
5. You might want to make a UserKey to 'start' and 'stop' recording positions unless it'll get quite messy ito handle the file when you chose to save them locally.
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Thanks a lot for all the details Seulki!