04-30-2020, 07:19 PM
Jeremy, Great job on the "RoboDK - From 3D model to robot paths - Part 2" webinar!
I'm excited to try out the new "modify curve" functionality. However, it seems that currently you can modify the "roll" angle along a path, but not the "yaw" -Tool Z rotation along a curve.
I'm working on a liquid dispensing application and having problems using the curve follow project to to dispense on the surface shown in the attached picture while controlling a large tool's Z rotation to prevent collisions with the surface.
Scenario: A path goes down hill, across a flat, and back up hill.
Let's separate these into separate segments and name them: "DOWNHILL", "FLAT", and "UPHILL". For simplicity, let's call the end points to these line segments A, B, C, and D. Here's some ASCII-art; I'll try to post RoboDK screenshots and station files later.
{A}-
D
O -{D}
W L
N L
H I
I H
L P
L U
- {B}产品——{C}
My real geometry will have more complexity, including fillet radii between the segments, but I'm trying to simplify for a general discussion.
I would like to have my tool orientation at each point be as follows:
It does not seem possible to do thesegmentacross the flat{B}-FLAT- {C}with Z-rotation using acurve follow project, so I split this into three programs: "Downhill" (generated by a curve follow project), "Flat" (manual targets), and "Uphill" (generated by a different curve follow project).
However, linking these for a smooth motion has proven quite difficult. Some issues:
Thanks!
-Chris
I'm excited to try out the new "modify curve" functionality. However, it seems that currently you can modify the "roll" angle along a path, but not the "yaw" -Tool Z rotation along a curve.
I'm working on a liquid dispensing application and having problems using the curve follow project to to dispense on the surface shown in the attached picture while controlling a large tool's Z rotation to prevent collisions with the surface.
Scenario: A path goes down hill, across a flat, and back up hill.
Let's separate these into separate segments and name them: "DOWNHILL", "FLAT", and "UPHILL". For simplicity, let's call the end points to these line segments A, B, C, and D. Here's some ASCII-art; I'll try to post RoboDK screenshots and station files later.
{A}-
D
O -{D}
W L
N L
H I
I H
L P
L U
- {B}产品——{C}
My real geometry will have more complexity, including fillet radii between the segments, but I'm trying to simplify for a general discussion.
I would like to have my tool orientation at each point be as follows:
- point {A}: ToolRZ = 0 deg
- point {B}: ToolRZ = 0 deg
- point {C}: ToolRZ = 180 deg
- point {D}: ToolRZ = 180 deg
It does not seem possible to do thesegmentacross the flat{B}-FLAT- {C}with Z-rotation using acurve follow project, so I split this into three programs: "Downhill" (generated by a curve follow project), "Flat" (manual targets), and "Uphill" (generated by a different curve follow project).
However, linking these for a smooth motion has proven quite difficult. Some issues:
- Transitioning from curve-follow segment to manually created target-to-target move creates a stop or stutter movement with a real robot that is hard to see in the simulation
- The Z-rotation of the tool is hard to control to be smooth
- Sometimes when I re-run the curve follow project, a new program with the same name is generated with the same name, creating confusion.
- Attempts to modify the curve-follow-generated targets breaks the program. My procedure is Program>show instructions, then selecting a series of moveL commands and right-click>select target. The targets are dropped into the wrong reference frame, and moving them to the correct frame breaks the moveL links. Editing the moveL commands to re-link the targets doesn't work either.
Thanks!
-Chris