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roboDK trajectory generate questions
#1
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?


Attached Files Thumbnail(s)
   
#2
I noticed your points are too close to each other. You can try reducing the curve tolerance in RoboDK's plugin for SolidWorks to prevent this.

Another option is to reduce the density of points when you generate a program. You can do so following these steps:
  1. Select Tools-Options
  2. Go to Program tab
  3. Set Minimum step size (mm) to 1 mm or higher
Note that increasing this value will reduce accuracy.

   

I noticed that you set your blend radius to 20, however, this has no effect if your points are too close. You can see that the post processor is applying a filter to make the blend radius at most half of the travel distance.

Albert
  




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