Posts by MOM

  • Behind the scene - geometric operator

    I was looking for the "geometric operator"in this forum and found a lot of problems unsolved.

    Maybe this thread will help to get a better understanding.


    So, let us start:

    In this first post just some explanations:


    T01: $BASE (given) : {X 800.0, Y 0.0, Z 1200.0, A 0.0, B 90.0, C 0.0} -> how to convert?

    T12: Pose relative to $BASE (given): {X 300.0, Y 0.0, Z 400, A 0.0, B -90.0, C0.0} -> how to convert?

    T02: Pose relative to K0 (needs to be calculated)


    The geometric operator is only dealing with frames and not with matrices (all calculations internally )

  • Chaining geometric operator

    A good tool in python is actually matplotlib.


    As mentioned earlier the best thing is to make a drawing to visualize. The drawing in post #5 was done with powerpoint.


    For KUKA robots THE initial coordinate system is the World coordinate system and all other coordinate systems are directly or indirectly depending on this coordinate system.


    I just wondering how your drawing would look like using F[1]:F[2]:F[3]:F[4]:F[5] (maybe FK?)

  • Chaining geometric operator

    Here a small example:


    IN order to do the inverse kinematics the FCS (Flange Coordinate System relative to $WORLD) is needed.



    To do the calculation I usually make a drawing first to identify the sequence of the multiplications


    In the first step the Tool Coordinate System relative to $WORLD will be calculated and gives:

    $BASE:FTCP (Triangle WCS-BCS-TCS)

    Now we have the Tool Coordinate System relative to $WORLD


    In the second step the Flange Coordinate System relative to $WORLB will be calculated.

    $TOOL goes from FCS to TCS. We need it the other way around (INV)


    The final result then will be $BASE:FTCP:INV($TOOL)

    (Triangle: WCS-TCS-FCS)

  • Chaining geometric operator

    To do the calculations you do not need OL or robot.


    Quote from Hes

    But what becomes of F[1]:F[2]:F[3]:F[4]:F[5] ?

    The geometric operator doing two things and can be expressed:

    T[1]*T[2]T[3]*T[4]*T[5]

    ":" multiplication "*"

    Converting Frame to Transformationmatrix, doing the multiplication and reconvert result to frame


    Example:

    F[1]: $BASE

    F[2]: Frame relative to F[1]

    F: F[2] relative to $WORLD


    IN KRL:

    F = F1:F2

    or

    In Python:

    F = mat2frame(frame2mat(F1)*frame2mat(F2))


    It is always useful to make a little drawing:

    ----F[1]--->----F[2]--->

    -------------F------------>

  • Kuka krc2 system ıstallation

    Could also be a problem with the graphics card.


    When the graphics card is setup to show the contents on the hpu and additional monitor after windows start the monitor will be activated (if set that way) .

    If settings are changed to a better image on the monitor (resolution, Frequency) then the hpu cannot display anymore and is switching off.

  • Welding arc

    Do you have the user manual for the merkle?

    There should be a trouble shooting section and also a sequence diagram for comms


    I agree with panic mode

    Quote from MOM

    Yes,

    - make sure that Merkle is switched on

    - check cables

    - check i/o signal/state

    did you really checked everything


    I am just wondering to get "crash Kontakt" and not "stromquelle bereit"

  • sending xml files using Server/Client TCP socket.

    Quote from johncena690

    I used EthernetKRL_Server.exe file to send data using their own interface and then there wasnt any issue( by directly copy-pasting the xml file).

    I think here a different network is used (SMEM)


    Quote from johncena690

    But while using python the connection issue is popping up.

    did you run your python on the krc (SEM) or from a different computer (LAN)?

    In this case you are using a network which cannot be reached by your program unless your kli settings are correct

  • KSS doesn’t load correctly

    Quote from Leon

    This forum has a lot of information and experienced people on it, but it is no replacement for kuka service.

    It was never the intention of this forum to replace kuka service!


    If you have a problem there are different ways to solve the problem:

    1- check this forum for already known problems and solved issues (if they marked solved and how)

    2- try to figure it out yourself - most of the time this will not work

    3- check with kuka (they will do the rest)


    This also works for all other robot manufacturers


    And this forum will not help to violate any copyright or license rules

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