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External Axis Optimization
#1
Hi, I have attached a Robodk project for welding application.
As can be seen there is a positioner and i want that the Robot should stay at one position and just the positioner should rotate while welding.

I have been able to achieve this partly as in the simulation, the Robot also moves to some extent which i don't want.
I want the Robot to stay at one position and just the positioner should rotate.

Please help on what settings in need to change in smart optimization.


Attached Files
.rdk   WELDING.rdk (Size: 3.42 MB / Downloads: 14)
#2
Hi Amarkangda, 

Hope you are well.

I attached your station, I was able to reach your requirement. 
You can see how I did by exploring "Axes Optimization" -> "More Options". 
Bring the robot and the external axis to a starting point that makes sense for you. (Choose the configuration you would like the robot to take for the whole welding process.)
Open "Axes Optimization"->"More Options" 
Select "Maintain Robot Reference". 
You can play with the weight of the parameters if needed. 

Another thing that you might want to take into account is the quality of the extracted curve you are using. 
If you use one of our supported CAD software I would recommend you using our plugin to import the path. 
See more details here: https://robodk.com/doc/en/Plugin-SolidWo...SolidWorks
Otherwise, you can take a look at this webinar to learn how to better extract the curve from your 3D model. 
https://youtu.be/oW2Pxz4RoYc?t=1049

I hope it helps. 
Jeremy


Attached Files
.rdk   WELDING.rdk (Size: 3.43 MB / Downloads: 14)
#3
(09-23-2020, 04:32 PM)Jeremy Wrote: Hi Amarkangda, 

Hope you are well.

I attached your station, I was able to reach your requirement. 
You can see how I did by exploring "Axes Optimization" -> "More Options". 
Bring the robot and the external axis to a starting point that makes sense for you. (Choose the configuration you would like the robot to take for the whole welding process.)
Open "Axes Optimization"->"More Options" 
Select "Maintain Robot Reference". 
You can play with the weight of the parameters if needed. 

Another thing that you might want to take into account is the quality of the extracted curve you are using. 
If you use one of our supported CAD software I would recommend you using our plugin to import the path. 
See more details here: https://robodk.com/doc/en/Plugin-SolidWo...SolidWorks
Otherwise, you can take a look at this webinar to learn how to better extract the curve from your 3D model. 
https://youtu.be/oW2Pxz4RoYc?t=1049

I hope it helps. 
Jeremy

Thankyou so much for this Mr. Jeremy. I now understand how "Maintain Robot reference" works.
#4
Just one quick info, I also used the script "Curve_Filter_Average_Normal" so smooth out the path orientation. 

You can do the same with "Tools"->"Run Script"->"Curve_Filter_Average_Normal". 
I used 10 points to filter (5 points on each side of the filtered point). 

That gave me a smoother external axis movement. 

Jeremy
  




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