Posts by Eric

    There are different approaches to this task. Can't talk by experience, but you could use offsets or you program with a BASE-Frame and shift that BASE-Frame accordingly.

    Hmm, how do you deactivate that alarm, if the dog runs away from you? This dog has to check whether you are inside a room and then how will it motivate you? What if you just put up your headphones and ignore it? Also what if you close doors and stuff? You guys should think this more through and refine the idea, so it makes a bit more sense.


    Also moving around the house is not enough, it should be able to walk outside.


    Given all that, the production cost depends on design and components and quantitiy. Check for prizes of that dog robot from Boston Dynamics. This would fit the idea. You also have to think about Software Development, because without intelligence this bot couldn't handle the task.

    Ask yourself how the gripper exactly is properly aligned, then use those edges or corners as points for the 6point method. It looks like the bottom plate of the gripper is aligned with the boxes you want to grip.


    First 4 points on a corner and then point 5-6 to adjacent corners.

    Sure, on the tip of those hooks in open state, for example.


    Or at those side track, where the part gets aligned (light blue).


    It depends also a bit on the part itself and where the part is picked and placed.


    As a rule of thumb: align your tool frame in that manner, that it is easy to jog and easy to teach positions.


    For the cable and pneumatics, make sure that your axis movements in 6 and 4 stay minimal and there shouldn't be too much problems. You can do that by checking your configuration. FUT 000 or NUT 000 is mostly seen. This needs some testing.

    You can see that in the purchase order or maybe in the delivery notes.


    Do you deburr everything on the same plane? You can measure the exact plane with a 3 point method as BASE.

    Absolute accuracy is ordered before the delivery of the robot. This means, KUKA is doing a precise measurement and activating absolute accuracy for that robot, because each robot has it's own manufacturing inaccuracy that needs to be taken into account.

    Yep, robot should be absolute, to do exact mathematical movements.


    There are different ways in tackling this problem. One could be to use a search function, that requires an external sensor.


    Or you use a mechanical suspension. Depends on the deburring tool you are using.


    Or you do more exact measurements of base and tool in combination with absolute calibration.


    Also don't forget that robots precision is not more than 1/10 mm or even worse.

    This comes all from the mathematical calculations, that happen under the hood.


    A frame is a coordinate system.

    A tool frame is a coordinate system attached on the end of the link chain. It is affected and moved by robot joints in relation to the world or base.

    A world frame (ABB) is a stationary frame of your choice, standard position(ABB) at the base of the robot

    A TCP is a Tool Center Point - So, strict speaking: point on the center of the tool. Where that center is (center of mass, center of shape, center of axle) is up to you. Most people use TCP as term for a tool frame. So, this term is used wishy washy.


    Also there are no real standards for terms.


    Tool Frame
    Stationary Frame
    FANUCEOAT (End of Arm Tool)
    User Frame
    KUKATOOLBASE
    ABBToolWorkobject

    I would say TCP is a tool frame that is specially located on a center point. That's why it is called so.


    Also I think the sentence from that article you posted is not quite correct. In case of a docking operation, frames are not identical. This makes no sense. Only if you position a tool frame exactly on a stationary frame, but not 2 tool frames. Those would be always identical and without purpose.

    If you decide to not use a 6axis robot, keep in mind that you can always easily adjust a 6axis robots task, whereas a less axis robot will not be able to change orientation without more axis.


    If you, for example, want to use the robot later for different tasks that require the microphone to be directed toward different angles, then a 6axis can do that with ease.

    If you watch the video that donald mentioned, you can clearly see, that the tasks this robot is capable ( under good weather conditions) are very simplistic. Grabbing sauce and dropping the content.


    Also you can see, that the robot is hanging on the ceiling on a linear axis, so his movement is limited to the kitchen unit.


    Imagine this robot opening packages. How would that look like? How could he figure out the movement and logic for this task? Opening a regular bottle or a package with sauce powder.


    This clearly needs some intelligence, it's too complex to code all of the specialities.


    So here comes an Deep Learning AI into play and those AIs need lots of training to be somewhat capable of doing things.

    OK, if you make path planning in another software, somes things have to be clear:


    1. the coordinate origin is different with each robot manufacturer: KUKA and ABB has it on Axis 1 center of base. FANUC has it on axis 2 in 0° position of axis 1
    2. the path planning is always structured with point to point, linear and circular movements
    3. then each manufacturer has different flyby zones, sometimes speed dependend

    If you figured that stuff out you can generate movement instructions based on your path planning. This has to be done in each robot manufacturers own language. ABB has RAPID, FANUC has KAREL, KUKA has KRL with inline forms and so on.


    Also don't forget orientations. I see in your path only points but no orientations.


    An example point for ABB looks like this:


    Code
    CONST robtarget pExample:=[[1648.54,-1438.01,1106.93],[0.709321,0.704869,-0.00352078,0.00333264],[-1,-2,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

    with firsts bracket [x,y,z] as translation

    and second bracket [q1,q2,q3,q4] as rotation by quaternions

    and third bracket the configuration[c1,c2,c3,c4] because robots can reach a point in different poses (multiple pose solutions possible)

    and fourth bracket the external axis [e1,e2,e3,e4,e5,e6]

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