Thanks, guys. It's really helpful!
Hi, all. I recently find that variable declared in .dat file can remain its value after reboot the KUKA, like:
However, when it comes to an array, an error occurs. I cannot initialize an array in the .dat file using
but the value of array is lost without initialization when KUKA restarts.
So is there any way to keep array remain even if kuka reboot?
Thanks for the reply. I want to make my KUKA robot move along a path generated by PC. At first I use ptp and line motion to control the trajectory of robot. But problem occurs- the trajectory error is too big with little points passed to robot however robot is shaking and unstable when using too many points. So I try to find a more perfect solution. Maybe spline is better to handle this, so I want to try.
I use a PC to generate points and send them to my robot through EthernetKRL. I write a KUKA program to receive these points and use them driving my robot in ptp and line mode. It works but I can't find a way to use spline correctly. The number of points is unknown so I need find a way to use for or while loop to traversal the array rather than write a line of code for each point. It's an rare demand so I just want to know if it is possible. Any idea is appreciated.
Here is the point: I have an array of points and want to use spl to traversal it either than write a line of code for each point. So I'd like to find a way such as using a "while" in spline block, but it doesn't work. I just want to know is there another solution?
Well, I'm really a newbie here . Actually, I have tried this code:
It works but it is 3 pieces of spline that is different from
Very thanks to your help but I think I still need another way.
Thanks, Fubini. I have read this topic and tried to use spline block now. But I find it's forbidden to use array in spline block like attached picture ("points" is an array of "pos", and the declaration is "DECL pos points"). Is there any idea to use "spl" to traversal an array in spline block?
thanks for the reply, fubini. I have read the spline section in the manual, but can not find anything about which kind of SPLINE is the KRC4 using. Is it a standard spline or something else? where can i find the mathematical model if possible?
I'm using a KUKA KR 6 R700 robot and want to move it along a given complex three-dimensional path. But i don't know how to do . Does anyone tried this?
And I want to know if I can use spline to achieve this?
Any help is appreciated.
I want to make my kuka robot move along a given path.And it's a complex curve so I can not use the lin and cycle.Is there some idea to use spline to accomplish this? Or where can I get some document about KUKA spline module? thanks for all.