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Hi everyone,

I am doing a 3D Printer as the final project at my uni, and I cannot figure out how to maintain the constant smooth movement of the robot using online programming. I am parsing the values from gcode (part of the assignment), but when I move around corners using the MoveL command, it is slow, but on straight lines its speeds up rapidly. I am doing online programming using a separate Python script that communicates with RonoDK and KUKA KR 6 R700 Sixx robot.

Except for the speed issue, I have trouble with jerky movements. During the implementation of ball-tracking, I found that increasing RDK.setSimulationSpeed() solves the problem since I must ask RoboDK for the robot.Joints() coordinate to move the real robot, and having faster simulation creates more points where the robot moves, so the movement of the real robot is smoother.

Unfortunately, it is not possible in the case of 3D printing. Because I already know the track (the ball tracking was in real-time using a webcam), increasing the simulation speed results in too fast movements of the robot.

What I have tried so far:
1) I set up the linear speed and acceleration of the robot
2) I restored the settings and made sure that the collision check was unchecked
3) I turned off the blocking command of MoveL
4) I looked for the MoveP command instead of MoveL, which is used by Universal robots, but RoboDK has no movement like this

All mentioned above have not solved my issue, and I am running out of options. As it is online, I can't edit the parser to receive the desired result. The two files are attached below. Firstly open the robo_base, and then run the python script. I would be very grateful for any help.

Thank you very much for your time.

Attached Files
.py (Size: 3.7 KB / Downloads: 17)
.rdk   robot_base.rdk (Size: 304.92 KB / Downloads: 15)
As mentioned in many other post on the forum, it's impossible to have fluid motion using the driver (direct connection between the robot and RoboDK) as a handshake is required at the end of each move.
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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