Posts by therobotman

I am looking for a heavy and sturdy base to use to support an industrial robot (I am thinking something in the KUKA Quantec Line). The idea here is that the robot would not be mounted and limited to a single place in our shop and could be moved to different setups for different operations and programs. A forklift could simply move the entire platform on which the robot is mounted.

Here is a linkto a video that is representative of my idea. In this case, it is an ABB robot.

Does anyone know of a company that makes these platforms for industrial robots?

Quote from SkyeFire

If you already have RSI, then that's the simplest and most reliable way to get a "steady stream" of the robot's current position, or anything else, really.

Can you explain what commands/sample code text should be used to do this?

[size=2]lookup "geometric operator"[/size]

So I looked up geometric operator in the expert programming manual and on this forum, and from what I have found, the geometric operator provides a way to shift a base that is at an odd angle with respect to the WORLD frame. I do not see how this is related to the jacobian matrix and how I would access it. Can you explain further what you mean? SkyeFire said that it is not really possible.

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Quote from therobotman

[size=2]3. Can I specify joint velocities (or have joint velocity control) at each sampling time? If so, how is it done?[/size]

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[size=2]controlling robot arm at that level requires additional software such as RSI[/size]

What specific commands would you use within RSI to to control joint velocities at each sampling time?

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Quote from therobotman

[size=2]4. How can I get the current endpoint of the robot outputted? Is it even possible to get this in a command line output form?[/size]

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[font=verdana, arial, helvetica, sans-serif][size=2]please read topic READ FIRST and check system variables manual, for example check variables $AXIS_FOR and $POS_FOR[/size][/font]
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Okay, I understand that those variables can be used to get the current endpoint of the path in join and cartesian form, however, how do I get a constant stream of the robot's position as the program is moving?

Very basic training. Why?

I checked several of the training manuals and did not find anything related to the algorithms or the jacobian.

I had a few questions on the kinematics for a KUKA robot. I tried googling and couldn't anything on KUKA's kinematics.

1. What is the path planning algorithm within the KUKA Robot?
2. Is it possible to access the jacobian matrix on a KUKA Robot? If so, how is it done at the end-user level?
3. Can I specify joint velocities (or have joint velocity control) at each sampling time? If so, how is it done?
4. How can I get the current endpoint of the robot outputted? Is it even possible to get this in a command line output form?

SkyeFire I guess I meant to say seam welds, not spot welds. I originally thought that spline motion would be ideal to move a KUKA Robot arm very smoothly in a human arm motion, but it seems like PTP motion would be ideal for that. Would you say that is a correct assessment?

You are suggesting to reduce the velocity of the spline block? Would you say that the spline motion is ideal for small complex paths that need to be very accurate such as welds, etc.?

Programming 1 Training Documentation. Am I wrong?

Ah, so the spline motion is for applications like welding with points close to one another, correct? It is not designed for large wide smooth motions.

Reduce velocities of the spline motion? Which documentation would you recommend reading? I can't find any documentation where it shows step by step how to program a spline motion.

I reset the program and ran it from the beginning and I get the same error where command velocity exceeded A4. Like the robot barely moves and then the brakes click. It doesn't even get to the first point. What do I do?

So I adjusted axis 5, and tried to run it, but now it gives me an error that "BCO-motion is executed as LIN". How do I fix that?

I am relatively new to KUKA Robots and I am experimenting with a spline motion to get a nice smooth motion of the robot similar to movement of a human arm. I tried creating a small program with a couple of points, but when I try to execute the spline block, I get command velocity exceeded on A4 even though when I set both points (touched them up), I did not even adjust A4 at all. Do you know how I can solve this issue?

Please see attached photo.

Is it possible to get two KUKA KRC2 robots to work together to pick up an object or move together without using roboteam? If so, how would it be accomplished?

Also, is KUKA.SIM compatible with KRC2?

I went ahead and changed the speed back to 2 m/s. Do you mean to ask how far away the spline point is from P21 or PTP HOME? Those are the points before the SPLINE.

I tried to troubleshoot this, but when I tried to run the program, I get an "INTERRUPT 3 not defined". It also opens up the Callerstack(Robot) side window on the right hand side. I have no idea what this is. See the new screenshot attached for more info

I am somewhat new to KUKA robots and I am trying to develop a smooth robot motion as a demonstration. I tried reading through the documentation on spline motion, and tried implementing a spline motion on my KRC2. I have attached a picture of the code that I wrote, and when I execute the program it doesn't even execute the spline motion. Would someone be able to help me understand why this isn't working and perhaps how to correct it?

I am trying to install a gripper on a KR210 (KRC2) and I am lost on how to get the air supply setup. Attached are some pictures of an older Coca-Cola Bottling Gripper. Once I get the gripper mounted to the flange of the robot, how do I hook the air supply from the gripper to the intermediate connection mounted on axis 3 (see picture "Axis3") which is connected to the junction box at the base of the robot (see picture "JunctionBox" labeled in blue "Air")?

Isn't the size of the tubing for air larger than what is acceptable on the input on the gripper end?

Once I reach the junction box, do I need a compressor or air tank connected to the junction box to supply the air? Where can I find more information on what I need for that?

I have attached additional photos of the Coca-Cola Bottling Gripper, and please let me know if you need additional photos of anything!

Thank you for your help!