Own kinematics in RobotStudio

Zulumike

Hi,

I saw the video on YouTube, where Per Svensson demonstrates the function of the "Extended Motion" plug in.

https://www.youtube.com/watch?v=HLjQmur07ls

I would like to simulate own kinematics in RobotStudio, but these are not standard 6-axis robots. So I have to implement our own kinematic model (interpolation algorithm).

Is this possible with the extended motion plug in? And if so, how does it work?

Thanks in advance and kind regards

Mike

PerSvensson

Hi
The extended motion use a generic interpolator, nothing to do with the virtual controller and
But I think you should take a look at the Standalone controller option where you can define your own kinematic model.

Zulumike

Hi Per,

thanks for the answer!

I already tried the stand alone controller a few years ago. But I had problems, because our kinematic is not exactly supported by the models already delivered with the SAC. So how can I build a system from it?

I have tried by copy paste one of the kinematics delivered with the SAC and change the .cfg files, but there is still the .sec file, wich is binary. Can you guide me through the steps I have to do?

By the way:

The SAC is my prefered solution, because with it I can check the hole application program with the virtual controller. But please could you explain, what exactly you understand under the "generic interpolator". Is it only for 6 axis robots? Does it use Denavit-Hartenberg parameters, and if so, where does it get the values from?

Thanks for your support!

PerSvensson

Well it used to be a hidden API in RS that I used to use when developing the extended motion addin, but haven't used it for a long time so I'm not sure if it's possible to use it now a days. What I remember creating a SAC, a couple of years ago, the manual regarding setting up it was quite good. Don't have it in my head and don't have the time to dig into it right now so I guess you need read the manual to check if your kind of mechanism is possible to setup using SAC or if someone else here could help you

Zulumike

Hi Per,

I was able to setup a SAC with the right D-H-Parameters. When I jog all the axis each by each in motion mode "Axis" everything works just fine. I can see the TCP values are always correct, and also the values ot the Euler angles.

But I am not able to move in linear or reorient motion mode. I always get the fault massege "50209 Kinematic limitation". And I have no idea what's wrong, because I can't find a detailed description of this message.

I used the kinematic YE(Y)D(Y)B(Y)A(Z) template from the SAC, because it is very similar to our kinematic. Only the A rotation axis is different.

Can you forward my question to someone, who has experience in setting up SAC kinematic models?

Thanks in advance!

Mike

PerSvensson

Hi
 I think this error is related to that you need to define your kinematics limitations in the moc.cfg file I think this is described in the Standalone controller manual

Zulumike

Thank you very much, I will have a look into it ...

... next week  :-)

Have a nice week end!