Incremental & decremental circular program

Ankit1995 · February 21, 2024 at 11:20 AM

I want to make a program in kuka robot - Like let say i have a circle of 100mm diameter, i want shift the 'Z' height at the edges of the circle as the diameter increases (roughly i want to travel & shift the Z height by 10 mm as the dia increases.

After reaching at the center of the circle, the length of movement should be in decremental order for the lower half portion of the circle.
Can anyone help me to make the program.

**panic mode** · February 21, 2024 at 1:40 PM

Far from clear....

Hes · February 21, 2024 at 7:08 PM

What is it that you are seeking? A conical spiral, a regular spiral, somekind of ellipsis, a skewed circle?

hermann · February 22, 2024 at 7:44 AM

Quote from Ankit1995

.. i want shift the 'Z' height at the edges of the circle..

Already this part is kind of strange. Haven't ever seen a circle with an edge

Ankit1995 · February 27, 2024 at 5:25 AM

For easy understanding, I want to move kuka robot horizontally towards top to bottom, while each 'z' height shift to be 5 mm but the shift can done slightly (25mm outside) from the outside of the circle.

Fubini · February 27, 2024 at 5:55 AM

Still not clear. Could you provide a picture?

**SkyeFire** · February 27, 2024 at 2:15 PM

This sounds like it might be a spiral boring action, similar to the red toolpath seen here:

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I've attached a library I built years ago to generate circular motions as a series of mathematically generated LIN points. It wouldn't be hard to add a Z step.

Ankit1995 · February 28, 2024 at 11:24 AM

Thanks for help but Sorry to say but i dont know how to attach a JPEG/ZIP file as i'm very new to this forum.

Please check the image & help me now.
https://we.tl/t-gk0qHN6WYn

**SkyeFire** · February 28, 2024 at 2:51 PM

Quote from Ankit1995

Please check the image & help me now.
https://we.tl/t-gk0qHN6WYn

No, sorry. That site demands I give up my privacy just to view the file. Try a different host. You could also try answering my previous question.

**panic mode** · February 28, 2024 at 2:53 PM

**SkyeFire** · February 28, 2024 at 3:13 PM

Quote from panic mode

A raster scan of a circle? Hm.... Well, my GeneralEllipsoid module would produce an array of points around the circumference. It would just need an extra step to re-sort the array into a raster rather than a circular motion. Something like:

Code

  ; Sort for Raster Scan
  REPEAT
    FOR _i = 1 TO 300
      IF NextPos[_i].X > NextPos[_i+1].Z THEN
        _pTemp = NextPos[_i]
        NextPos[_i] = NextPos[_i+1]
        NextPos[_i+1] = _pTemp
        _bSort = TRUE
      ELSE
        _bSort = FALSE
      ENDIF
    ENDFOR
  UNTIL NOT _bSort

Display More

That's just off the cuff, and I don't have a way to test it right now. And it would require a second stage to arrange for the small "vertical" move at each end... hm. I'm sure there's a way to do it, but I'm short on time right now.

**panic mode** · February 28, 2024 at 4:19 PM

maybe something like this. just an idea - some debugging may be needed...

Code

DEF circ_fill(start_pos:in,aux_pos:in,target_pos:in,spacing:in)
  DECL FRAME approach, edge1,edge2,start_pos,aux_pos,target_pos, base_pts[3]
  DECL FRAME temp_base, prev_base
  DECL REAL spacing,r,x,y,dx,dy,dz
  decl bool neg
  DECL ORI_TYPE prev_ori
  DECL INT i

  base_pts[1] = start_pos
  base_pts[2] = target_pos
  base_pts[3] = aux_pos
  temp_base   = CalcBase(base_pts[])
  
  dx = target_pos.x - start_pos.x
  dy = target_pos.y - start_pos.y
  dz = target_pos.z - start_pos.z 
  r  = 0.5*sqrt(dx*dx+dy*dy+dz*dz)

  approach = $POS_ACT
  prev_ori =$ORI_TYPE
  LIN start_pos
  $ORI_TYPE=#CONSTANT  
  prev_base = $BASE
  $BASE     = temp_base  
  edge1     = $nullframe
  edge2     = $nullframe  
  neg       = false
  i=0
  WHILE (edge1.x+spacing)<=2*r
    i=i+1 
    edge1.X = edge1.X+spacing
    edge1.Y = sqrt(r*r-(r-edge1.x)*(r-edge1.x))
    edge2.X = edge1.X
    edge2.Y = -edge1.Y
    if neg then
      LIN edge1 
      LIN edge2
    else
      LIN edge2
      LIN edge1
    endif
    neg = not neg
  ENDWHILE
  
  $BASE = prev_base
  LIN target_pos
  LIN approach
  $ORI_TYPE=prev_ori
end

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**panic mode** · 2024-02-28 21-46-36.zip

CalcBase is found on forum, for example

Post

Re: Create Base manually from 3 Touch'up points

Hello Naathaaanb,

use attached function to calculate a new base.

put the 3 positions in an Array of frame fNewB[3]

(Code, 6 lines)

A,B and C will be right if the fNewB[3] are correct

Greets Loipe

Loipe

March 5, 2019 at 2:04 PM

the end result is something like this:

Ankit1995 · February 29, 2024 at 5:48 AM

Quote from panic mode

CalcBase is found on forum, for example

Post

Re: Create Base manually from 3 Touch'up points

Hello Naathaaanb,

use attached function to calculate a new base.

put the 3 positions in an Array of frame fNewB[3]

(Code, 6 lines)

A,B and C will be right if the fNewB[3] are correct

Greets Loipe

Loipe

March 5, 2019 at 2:04 PM

the end result is something like this:

1. Can you show where to teach points on small circle only, as i need to program only 1 circle at a time.
2. In line no. 17 & 20, into the bracket what is written after - (Xp1, Xp2, Xp3,. ....) because it is not clearly visible in video.

thanks in advance.

**panic mode** · February 29, 2024 at 6:01 AM

in current version raster runs from start point to target point. distance between those two points is diameter of the circle. the aux point is used to set the plane. it just need to be on the circle/disc, as long as it is away from center axis (green line). it does not need to be on the edge.

**panic mode** · February 29, 2024 at 6:06 AM

circ_fill() has 4 parameters:

start point

aux point

target point

distance between raster lines (in millimeters)

the larger the distance value, the fewer raster lines will be calculated.

if you watch the video, first it does small circle using 80mm raster,

then it repeats the same circle using 20mm raster....

i used large values just to make shorter video (smaller file size)

you must be watching the video on the phone. if you watch it on computer, you should be able to see more detail. screenshot below is taken from the video and it looks pretty readable to me:

Ankit1995 · February 29, 2024 at 6:19 AM

Quote from panic mode

circ_fill() has 4 parameters:
start point
aux point
target point
distance between raster lines (in millimeters)
the larger the distance value, the fewer raster lines will be calculated.
if you watch the video, first it does small circle using 80mm raster,
then it repeats the same circle using 20mm raster....
i used large values just to make shorter video (smaller file size)

Display More

Yes i have understood. I just tried this program just for single circle & for 20 mm distance. But Circ_fill(xP1,xP2,xP3,20), treating this line as a subprogram & it gives error. So again i need your help that did you make any subprogram for line no. 20 ?

Ankit1995 · February 29, 2024 at 6:26 AM

Quote from SkyeFire
A raster scan of a circle? Hm.... Well, my GeneralEllipsoid module would produce an array of points around the circumference. It would just need an extra step to re-sort the array into a raster rather than a circular motion. Something like:
Code
  ; Sort for Raster Scan
  REPEAT
    FOR _i = 1 TO 300
      IF NextPos[_i].X > NextPos[_i+1].Z THEN
        _pTemp = NextPos[_i]
        NextPos[_i] = NextPos[_i+1]
        NextPos[_i+1] = _pTemp
        _bSort = TRUE
      ELSE
        _bSort = FALSE
      ENDIF
    ENDFOR
  UNTIL NOT _bSort
Display More
That's just off the cuff, and I don't have a way to test it right now. And it would require a second stage to arrange for the small "vertical" move at each end... hm. I'm sure there's a way to do it, but I'm short on time right now.

Thanks & take your time, i'm looking forward for your help.

**panic mode** · February 29, 2024 at 7:05 AM

Quote from Ankit1995

Yes i have understood. I just tried this program just for single circle & for 20 mm distance. But Circ_fill(xP1,xP2,xP3,20), treating this line as a subprogram & it gives error. So again i need your help that did you make any subprogram for line no. 20 ?

did you take the code from post #12 and save it as CIRC_FILL.SRC?

did you put it on the robot?

did you do the same with CalcBase.src?

if you need help you need to be a lot more proactive with providing data. "it gives an error" tells me nothing.

Ankit1995 · February 29, 2024 at 7:27 AM

Quote from panic mode

did you take the code from post #12 and save it as CIRC_FILL.SRC?
did you put it on the robot?
did you do the same with CalcBase.src?
if you need help you need to be a lot more proactive with providing data. "it gives an error" tells me nothing.

did you take the code from post #12 and save it as CIRC_FILL.SRC? - YES

did you put it on the robot? - YES

did you do the same with CalcBase.src? - I DID SIMPLY BASE CALCULATION FROM TOOL/BASE MANAGEMENT SYSTEM. IS IT NECESSARY TOO?

Incremental & decremental circular program

95devils February 21, 2024 at 11:40 AM

Lemster68 February 21, 2024 at 2:18 PM

Re: Create Base manually from 3 Touch'up points

Re: Create Base manually from 3 Touch'up points

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