Posts by poupack

Hello everyone !

I did a routine in C# to calculate a TCP robot 6DOF (KUKA, FANUC,etc...) from 4 points. Everything is ok also I would have liked to know how to calculate the standard deviation from my results to determine any TCP errors.

I have tried with this function but cannot find adequate results. Do you have an idea ?

Thanks !!

        List<double> list = new List<double> { 1, 2, 3, 4, 5, 6};
 
        double mean                 = 0;
        double variance             = 0;
        double standard_deviation   = 0;
        double sum                  = 0;

        double temp = 0;
        int loop = 0;

        for (loop = 0; loop < list.Count; loop++)
        {
            sum += list[loop];
        }

        mean = sum / (list.Count - 0);


        for (loop = 0; loop < list.Count; loop++)
        {
            temp += Math.Pow((list[loop] - mean), 2);
        }
        variance=temp / (list.Count - 0);

        standard_deviation = Math.Sqrt(variance);

Any ideas ?

Thanks !

A screenshot with all the values OK but without the calculation of difference between robot values and Romer values....

Last sketch. Thanks

Other sketch

Ok, I posted sketches to better explain my calculation goal. I hope that it's clearer !

I'll post a sketch tomorrow to better explain my mathematical problem! Thanks MOM and everyone for trying to solve my mystery !

MOM, the code i am doing is for all popular industrial robots with the fisrt option : 3 points calculation.

I think the best is that I post a sketch as said panic mode !

Hermann you're right !

The algorithm to calculate the frame for the robot that corresponds to the vehicle zero i have coded and works BUT i want to determine if the Frame vehicle zero robot matches that of the table.

Theoretically I should have the same table values if I go on the Romer measured spheres with the robot.

I don't know how calculate this step !

Please help me !!

Thanks SkyeFire for your interest!

I will better explain my problem:

I have a 6-axis robot and I want to calculate the zero vehicule coordinate Base frame compared to an already measured table (ex: Romer, Laser etc...) in 3 points.

To mesure the frame robot i declared a tool user and a Null Base Frame.

My calculations are OK and I know how to determine my new reference frame (see the screenshot of my first message).

My question is:

How to calculate and check my new zero vehicule coordinate frame calculated on each point learned robot compared to each point of the measured table?

OR

How to attach mathematically my new calculate zero vehicule coordinate frame to compare the measured table points

For exemple:

My calculated zero vehicule coordinate frame in X, Y and Z:

X = 918,19527

Y = -2169,58373

Z = 2872,24142

1rst point Robot with Tool User and Frame 0

X = 1029,720

Y = -807,803

Z = 11,504

1rst point Pin Table measured with metrology

X = 2877,78

Y = -610,03

Z = 1179,96

With my new reference frame calculated I should have about the same table values in X, Y and Z.

What is the algorithm to apply?

I don't know if I am clear in my explanation !

Thanks !!

Hello all !

I am coding a program in visual C# to calculate the Frame robot in 3 points in relation to a measured 3D model. Everything is ok BUT I would like to know what is the algorithm to check the deviation of my learned points robot in relation to my new Frame and the delta between the measure ?

Thanks for your help !

Thanks Skyefire.

Yes i've UserTech installed. I've tried to add a sub-menu and is ok but the problem i want to call a function type .src and i think is only possible a plugin...

May be a solution ?

Thanks !

Nothing to help me ?

Hello ,

I would like to add submenu into existing menu kuka KRC2.

I think is possible by modifying the MenuekeyUser.ini file but i don't know how (variables to configure etc...)

Ex: Add a menu "pppp" below "tool"

Any documentation or help ?

Thank you all.

Thanks Hermann your explanation was very useful to me

Thanks spiral

I will try tomorrow !

Sorry Hermann,

In config i have really :

DECL E6POS P_POS1 = {x 0, y0,  z 0, a 0, b 0,  c 0}
DECL E6POS P_POS7 = {x 0, y0,  z 0, a 0, b 0,  c 0}

The problem is base 1 not change.
I think I forgot to declare the variable PART.

Can i declare it in config.dat like

DECL FRAME PART={X 0,Y 0,Z 0,A 0,B 0,C 0} ?

Hello !

Ok, here my problem,

I must program a palletizing routine KRC2 KUKA .
I would like to do a base offset between 2 points reported in "config.dat" and a counter for 7 Slots

ex:
"config.dat"

DECL E6POS P_POS1 = x y z a b c
DECL E6POS P_POS7 = x y z a b c
INT COUNTER=0

My .SRC

;fold calcul new base between 2 reference points for 7 slots
COUNTER = COUNTER + 1

PART.X=P_POS1.X-((P_POS1.X-P_POS7.X)/6)*(COUNTER-1)
PART.Y=P_POS1.Y-((P_POS1.Y-P_POS7.Y)/6)*(COUNTER-1)
PART.Z=P_POS1.Z-((P_POS1.Z-P_POS7.Z)/6)*(COUNTER-1)
PART.A=P_POS1.a
PART.B=P_POS1.b
PART.C=P_POS1.c
BASE_DATA 1 = BASE_DATA 2:PART
;endfold

But it does not work ! I do not understand why
could someone help me ?
Thanks