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Smoother movements
#1
Hi everyone,
I've been using RoboDK with Python API for a while now with KUKA Robots, and there's something that's bothering me lately... the robots take a long time between each movement, and by a long time I mean almost a 1 second pause between movements, is there something I can change for making the robot's movements smoother?

Thanks for reading :)
#2
Make sure you don't have collision checking activated:
Tools-Check collisions 
(uncheck this option)

Also, if you change some of the default settings it can alter the default behavior. I recommend you to set the default settings:
Tools-Options-Select Set Default Settings
#3
(12-11-2018, 11:37 PM)Albert Wrote: Make sure you don't have collision checking activated:
Tools-Check collisions 
(uncheck this option)

Also, if you change some of the default settings it can alter the default behavior. I recommend you to set the default settings:
Tools-Options-Select Set Default Settings

I've made both things, but the robot still waits a lot in between movements, I was reading that this can be something about the $ADVANCE option for KUKA robots, default is 2 on RoboDK, but I have no idea if I have to set it less than 2 or bigger than 2...
#4
Setting the $ADVANCE value to 5 should help. This is the maximum value accepted by KUKA KRC2 controllers (and KUKA KRC4 as well, I believe). This value tells the controller how far ahead the robot can look to smooth the movements and prevent speed changes (avoiding jerky movements).

If you select the KUKA KRC2 post processor you'll see that the $ADVANCE value is set to 5 by default. The following link shows how you can select a post processor for a specific robot in your RoboDK project.
https://robodk.com/doc/en/Post-Processor...SelectPost

Also, make sure you don't generate points that are too close to each other. For example, robots are repeatable in the 0.020-0.300 mm range. Having a step of 0.100 mm could be reasonable if you are concerned about accuracy. The robot motion should be smooth if the robot speed is not too fast.
#5
Hello Albert.

I am new in robodk, I would like to know if robotdk has a feature similar to the one in Kuka PRC regarding the type of movements. In Kuka PRC you can choose the type of movement interpolation you desire for the path to execute, It looks like Movement interpolation by distance or by velocity
#6
You can customize this behavior in the Post Processor.

The following link shows how you can select or modify a post processor for a specific robot in your RoboDK project.
https://robodk.com/doc/en/Post-Processor...SelectPost

For example, if you look for the MoveL function in your post processor you can replace the PTP/LIN commands by SPTP/SLIN. You can also define custom triggers in your program to switch from one to the other. For example, if you call a program named SLIN you could intercept it in RunCode function of your post processor and for output as SLIN.
  




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