[robo.robi]

Hello!

I would like to ask if it is possible to create spline motion from a number of points for KUKA KRC4? As shown in the picture below.



Thank you in advance!
Robo

[Jeremy]

Hi Robo,

A client requested a post-processor able to generated spline motion for the Kuka controller some times ago.
I did create the post-processor but never received any feedback regarding that.
Here's one thread related to that subject://www.sinclairbody.com/forum/Thread-Ability-...ght=spline

You can find the post-processor attach to one of my answers.

Jeremy

[robo.robi]

Hi Robo,

A client requested a post-processor able to generated spline motion for the Kuka controller some times ago.
I did create the post-processor but never received any feedback regarding that.
Here's one thread related to that subject://www.sinclairbody.com/forum/Thread-Ability-...ght=spline

You can find the post-processor attach to one of my answers.

Jeremy

Hi Jeremy,

Thank you for your reply!

So here is the example that I want to try. There are four points and I used Joint Motion to connect them together. This becomes PTP in KUKA KRC4 post-processor by default right?



I've then added the post-processor "KUKA_KRC4_SPLINE_DevVersion.py" you created and chose that as the post-processor, it still shows PTP in the exported file. Not sure if I used the post-processor correctly...




The trial station is attached here:
splinetrial.rdk(Size: 178.14 KB / Downloads: 277)


Best regards,
Robo

[Jeremy]

Hi Robo,

I forgot to mention two things.

样条的后处理器仅适用于RoboDK Linear motions (that could potentially change that to accept the MoveJ, but that doesn't seem to make sense according to the Kuka documentation, but I could be wrong.)

You also need to define where the spline block starts and ends.
To so, add a program call "startspline" at the beginning and "endspline" at the end.



Have a great day.
Jeremy

[robo.robi]

Hi Robo,

I forgot to mention two things.

样条的后处理器仅适用于RoboDK Linear motions (that could potentially change that to accept the MoveJ, but that doesn't seem to make sense according to the Kuka documentation, but I could be wrong.)

You also need to define where the spline block starts and ends.
To so, add a program call "startspline" at the beginning and "endspline" at the end.



Have a great day.
Jeremy

Hi Jeremy,

It worked! However, this only shows on the exported .src file right? The RoboDK UI will only simulate the linear movements and not the actual spline path?



I do have another question though. Whenever I use linear motion, there will always have a warning of "Joint XX is too close to a singularity", but I don't understand why and how it is too close to singularity. I see that it is possible to change the tolerance in Tools-Option-Motioon, but which parameter should I change?



Have a great day!
Robo

[Jeremy]

Hi Robo,

Spline: You are right, the spline will only show on the real robot, the simulation will show normal linear motion.


Singularity: You are hitting a wrist singularity right now (J5 reached 0 deg +/- 2.5), you can reduce the tolerance in the "Tools"->"Options"->"Motion" as you stated.
I don't know how familiar you are with singularities, but if you are too close to one, there are good chances that your TCP velocity will go drastically down in that area, which defeats the purpose of the spline motion.

Jeremy