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Joint angles from point follow project not smooth
#1
Hello,

I have the problem that my calculated joint angles from RoboDK are not very smooth, causing the robot to shake and vibrate (with a high frequency) a lot while  moving. You can see the planned joint angles in the plot:
   
On the right side you see the excat problem, the joint angles are not like a spline but more like measurement data. What is the problem with that? I was using PyhtonAPI and the point follow project to create my kuka program. Thanks in advance! Michael
#2
Hi Michael,

Can you provide your .rdk file?
And the generated .src file?

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


#3
Hi Jeremy,

sure, here is what I got. What do you mean with src file btw? I feed the robot with the joint angle list. Since I couldn't upload csv file I changed the file to txt.

Thanks, Michael


Attached Files
.rdk   20201023simulationKuka.rdk (Size: 347.32 KB / Downloads: 12)
.txt   data_downsampled_rollcomp.txt (Size: 5.59 KB / Downloads: 8)
.txt   data_downsampled_rollcomp_from_robodk.txt (Size: 14.65 KB / Downloads: 9)
#4
Hi Michael,

Are you monitoring the joints from the real robot or from RoboDK?

Make sure to use a rounding radius on the robot. With KUKA controllers this will generate a C_DIS flag for every LIN movement.

You can right click the first instruction in your program and select Add Instruction, then, Set rounding instruction and enter 5 mm (or try values from 1 mm to 20 mm).
   

If you want to automatically generate this using the API you can use the setRounding function. Example:

Code:
program.setPoseFrame(frame)
program.setPoseTool(robot.PoseTool())
program.setRounding(5)
program.setSpeed(speed)

Albert
#5
Dear Albert,

these joint angles are the output from the RoboDK simulation. For my first tests I used a moving average filter which I applied on the data after the simulation with RoboDK to get a smoother trajectory. Nevertheless, it would be practical to use RoboDk for that :) I tried your approach with the rounding value but it had no effect for me neither with 5 or 50. The joint angles keep completely identical (especially joint angle 4 within the region 10-40 makes problems):

   

I tried using the rounding with the API and adding manually, but no difference. What's the problem here?
#6
Dear Albert and Jeremy,

since I planned the next measurement next week on monday it would be great if you could share your ideas on my problem with the singal as I used your hints on the rounding but did not see any effect so far! Thanks in advance!!! Michael
#7
Hi Michael,

We, unfortunately, didn't have the time to look into it.
That's still on the list. I think your smoothing algorithm is your best bet for Monday.

Jeremy
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel


  




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