Hi, As I plan on getting myself a kit for a project this summer, I would just like to know if anyone have any experience in editing/creating code in external software, and loading and running it through the software provided by AR.
Also, if anyone has experience running the AR2 robot with Rhinoceros/Grasshopper combination, please feel free to share your experience and tips.
I do not have any experience with Rhinoceros or Grasshopper but im interested to see if anyone else replies to this question.
Hi Chris, Can you let me know how you generate your operation files?
When I create an operation, the file containing it, is of type "file", and when I try to alter it just a slight bit, for example in notepad changing X from 69.9 to 69.8, saving it as type "file" again, the whole list of commands are deleted when I load the operation again.
The program file is a Python tkinter list type file. I would have to do some research on editing a tkinter list outside of Python.
I'll look up on Python tkinter and explore the posility to export as such, thank you very much, Chris!
Hi Kris,
I'm also looking to explore the same pathway using Rhino&Grasshopper? By the way instead of using RoboDK I'm currrently using an open source Robots Plugin in Grasshopper for IK simulation. Please may I know if you were able to read an external program in the ARC software.
Hi Kris,
I have used Rhino/Grasshopper to control the KUKA KR500.
I'm not using it now to control the AR2, however you could use Grasshopper to send a XYZ co-ordinate message to the AR2 software... However I wouldn't necessarily recommend Grasshopper long term (at least not for my preferences) as it doesn't have the flexibility that I would prefer.
Hi Paul, Well that depends on what plugin you're using I guess. I have had overall positive experiences, but I have not tried other toolpath generating software. I've also only run on a few ABB models. What flexibility is it mising, if I may ask?
@Kris Hi Kris,
I guess I should say it is a fine program, however it doesn't provide the flexibility that *I* was after.
It is a fantastic starting point for sure and can be a fantastic solution.
I would recommend checking out KUKA PRC (grasshopper plugin). It has been a couple years but from memory you can import custom robots and it calculates the kinematics to follow splines and stuff. With some modifications I think you could get it to spit out points that the AR2 could use.
Let me know if I can answer any more questions or if you have a specific goal in mind.
Hi Chris, Firstly thank you so much for this wonderful pathway to robotics and amazing documentation. I was wondering on the same context of the question if you were able to explore the possibility of reading an external program in your ARC software. I have a code writing in an external software which I would like to upload it on to the ARC software. Please let me know if that is possible.
Hello, I will be working on a gcode interpreter but I dont have that up and running yet. Let me know if that answers your question or if you have a specific format need.
Many thanks for your response, Chris. Maybe I might sound stupid, But I assumed regarding g-code it just has a position and a normal (mainly used for milling or point tools), Will I be able to exploit the XYZWPR of the Robot's 6DOF in a gcode? I was able to create a code generator in grasshopper for Joint and Linear movements in Grasshopper and was also able to export into a file.
But as soon as I using ARC interface and load the program. Everything seems to be deleted. So was wondering if there is a way to upload the generated program directly into your ARC interface either by using load program or something. Please let me know. Thanks.
what is the file type being exported, The programs in my software are a python tkinter list.
I just exported a file from grasshopper with a similar code. Is there a specific tkinter list format? If possible, please can you share a link where I could learn from?
Also, you can download the ghprogram exported code from link below.
https://liveuclac-my.sharepoint.com/:u:/g/personal/ucbqpde_ucl_ac_uk/EYAtOt6CW59Lr4urvOvyoIcBT96LPNDFSxi5BBbj7mhbag?e=tJaqnx
Thank you