Posts by mikalaanning

    Hello! We have done some more changes to the code, among others we realized that our implementation of the frame "playGround" had its flaws since it didn't have "canvas" as its parent. We then realized that when we put "canvas" as a parent to "playGround" and the points used in "drawPlayGround" had "playGround" as a parent, we could cut out a generation of parents and make "canvas" the parent of the points. We then hit another wall.

    The issue we have now may be simple to fix, but we can't get our heads around it. :wallbash:

    Here you see the motion when our robot moves to its home position, this works without any issue.

    Here you see the motion of the batch drawing the playground. The coordinates showing are the right calculated one based on the canvas itself.

    And here you see the "Canvas" Base.

    So our question now is;
    How can we make the robot draw from the points calculated on another frame that is set as a base?
    Are we on the right track? If not, could you show us the way?

    This is the error we're getting.

    Thanks a lot again! :dance2:

    Forgot to mention this, we have initialized the robot and managed to move the robot down to a point we calibrated in the origo, but when using the movement in the motion batch the robot just stops and gives us the Error code showed. We belive this to be because we have made points out of the canvas frame.. read this another place saying that it were something with different parameters ect.. but couldnt find an solution..

    This method "getApplicationData().getFrame("/canvas").copy();" exists in the superclass "RoboticsAPIApplication". Line 22 gets executed when the class is being constructed and before this child class inherits anything from the superclass. That means when you call the method getFrame() which exists in the context of the super class it won't exist in your class context (yet). You can fix this by calling this method in your initialize method instead.

    If you want handguiding in manual mode you need the white enabling switch on the flange.

    Ahh! That explains why it wouldn’t work! I’ll move it back into initialize as you suggested! When it comes to the handguiding it worked before we started our project, we could push the white button and than guide the arm around.. but recently it haven’t worked.. this may be because we have done some work in the safety configuration ect.. do we need to implement a package or something with the handguiding software? Any help here would be usefull.

    Yeah, we have initialized the tool in the template and have given that a TCP in the program which we initialized using the 4point.

    When it comes to the calibration of both the canvas and the tool, is there any way we gan do this once and then save it in the program? So much hassle to do it every time we upload the code to the robot.

    Thanks again guys.

    Did you do a 3 point calibration on the canvas base?

    Post your modified code.

    Following the code you provided we managed to mark one single point, and then we tried to work from there. but we got a nullpoint exception at the line where we made the frames using the two-dimensional array. We're going to try to work around this by making each point without using an array. Planning to do this tomorrow, and then we'll provide the updated code.

    And to answer your question, no. We did not do a 3 point calibration on the canvas base. Only figured out how to mark once. The most optional would be to have points in each of the four corners of the whiteboard making that the canvas. And then just using lin on this frame. Any idea on how we can achieve this?

    This helped alot! Thanks! :party2:

    What is it exactly you're struggling with? The manual is pretty comprehensive (Im assuming you were referring to the systems integrator manual).

    I'm struggling with the basic approach of the program, like finding out which functions to use and how to use them. I've been reading the Sunrise Workbench Manual, but I can't really get my head around how to make the robot draw the lines and figures I want it to without going below the surface of the table. So I'm wondering about how to make a World that represents the 1 by 1 meter surface of the whiteboard where I can simply put in points to make the robot draw a line from one point to another, making the squares for the game and drawing the X's. And then to draw in a circular motion for the O's.

    Hello! I've now been struggling to learn myself how to write a code for basic movements for the KUKA LBR iiwa 7 R800. The task on hand is to make the robot draw the X's and O's in an TicTacToe game. I've been reading some manuals and figured out that I should be using the PTP and CIRC functions for the basic drawing movements, but the lack of example codes frustrate me. It would be awesome if any of you would give me some tips when it comes to coding.


Advertising from our partners