05-04-2020, 12:36 PM
Hi guys,
I am trying to use roboDK and solidworks to generate an UR polishing trajectory.
I got problem with move stable problem(the movement is not very smooth). As you know, the roboDK trajectory has movel and movep command options, then the robot will execute 1 command and slow down to zero velocity and start the next command, so the movement look not stable.
////////// script example
# Global parameters:
global speed_ms = 0.0200
global speed_rads = 0.30
global accel_mss = 0.200
global accel_radss = 0.400
global blend_radius_m = 0.05
# Main program:
# Program generated by RoboDK v4.2.3 for UR5e on 30/04/2020 15:13:49
# Using nominal kinematics.
blend_radius_m = 0.02
speed_ms = 0.800
# set_reference(p[0.504000, 0.212000, -0.045600, 0.000000, 0.000000, 0.000000])
set_tcp(p[0.043000, 0.000000, 0.059500, 0.000000, 0.000000, 0.000000])
# Show Tool 1
movej([0.701439, -2.095215, -1.944847, -0.672327, 1.570796, 0.701439],accel_radss,speed_rads,0,0)
movep(p[0.511367, 0.214482, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0)
speed_ms = 0.050
movep(p[0.511055, 0.214425, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.000)
movep(p[0.510028, 0.214380, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.000)
movep(p[0.508968, 0.214349, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.000)
movep(p[0.507907, 0.214323, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.000)
movep(p[0.506351, 0.214290, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.001)
movep(p[0.504795, 0.214259, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.001)
movep(p[0.503239, 0.214229, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.001)
movep(p[0.501932, 0.214204, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.001)
movep(p[0.500070, 0.214164, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.001)
//////////
I tried to set the “Rounding”, but it could not reach my wish because my trajectory always change direction with almost -180 degrees(as attached image), my trajectory looks like a series connection
of Z.
My question is:
Can I generate servoT command in UR script from roboDK? then the software can generate a perfect trajectory for me.
If not, what should I do to make the movement as smooth as it could be?
I am trying to use roboDK and solidworks to generate an UR polishing trajectory.
I got problem with move stable problem(the movement is not very smooth). As you know, the roboDK trajectory has movel and movep command options, then the robot will execute 1 command and slow down to zero velocity and start the next command, so the movement look not stable.
////////// script example
# Global parameters:
global speed_ms = 0.0200
global speed_rads = 0.30
global accel_mss = 0.200
global accel_radss = 0.400
global blend_radius_m = 0.05
# Main program:
# Program generated by RoboDK v4.2.3 for UR5e on 30/04/2020 15:13:49
# Using nominal kinematics.
blend_radius_m = 0.02
speed_ms = 0.800
# set_reference(p[0.504000, 0.212000, -0.045600, 0.000000, 0.000000, 0.000000])
set_tcp(p[0.043000, 0.000000, 0.059500, 0.000000, 0.000000, 0.000000])
# Show Tool 1
movej([0.701439, -2.095215, -1.944847, -0.672327, 1.570796, 0.701439],accel_radss,speed_rads,0,0)
movep(p[0.511367, 0.214482, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0)
speed_ms = 0.050
movep(p[0.511055, 0.214425, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.000)
movep(p[0.510028, 0.214380, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.000)
movep(p[0.508968, 0.214349, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.000)
movep(p[0.507907, 0.214323, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.000)
movep(p[0.506351, 0.214290, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.001)
movep(p[0.504795, 0.214259, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.001)
movep(p[0.503239, 0.214229, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.001)
movep(p[0.501932, 0.214204, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.001)
movep(p[0.500070, 0.214164, -0.035600, 2.221441, -2.221441, 0.000000],accel_mss,speed_ms,0.001)
//////////
I tried to set the “Rounding”, but it could not reach my wish because my trajectory always change direction with almost -180 degrees(as attached image), my trajectory looks like a series connection
of Z.
My question is:
Can I generate servoT command in UR script from roboDK? then the software can generate a perfect trajectory for me.
If not, what should I do to make the movement as smooth as it could be?