Kuka PRC help with Multi-Axis movement

Grasshopper
,
1

Hi guys, I have a script which I would like some help with, I want to print in multi-axis using KukaPRC Add-on, I already have a script with normals aligned with the curvature, however the robot is not correctly following the path, I want to know if anyone has any experience with this kind of operation or can help me understand what I am doing wrong.

This is the toolpath of what I want to print:

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image1373×1145 962 KB

This is how the vectors of the toolpath points look to enable multi-axis:

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image1340×1208 1.01 MB

And this is the issue with the robot + error:

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image1185×1169 267 KB

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image896×271 17.4 KB

Here is the script:

Robot messup.gh (20.3 KB)

Thank you.

2

did you setup your Tool and KUKA position correctly?
it looks like the arm movements are pretty convoluted…
you might also want to internalize Tool geometry

image
image1095×695 55.3 KB

3

Hi @Jess_Tanturro,

I’m the developer of KUKA|prc - I don’t always check the various forums, but send me a mail at johannes@robotsinarchitecture.org if you run into issues.

As @inno mentioned, it would be good to be able to access the full setup including tool geometry for more efficient troubleshooting!

Best,

Johannes

5

Hi Johannes,

Thank you for paying this some attention, I have sent you an email regarding this.

Looking forward to hearing from you.

6

Hi Jess,

I just replied via mail, but in case it also helps others I’m also posting it here!

The logic is fine, just the planes were set up in a way that is not ideal, and for reachability you should orient them to the robot.

I’ve modified the example a bit!

Hope that helps!

Robot messup_2.gh (20.0 KB)

Best,
Johannes

7

Thank you Johannes, very informative.