The boundary of robot operation refers to the movement of parts and things in space through a certain organization, which naturally requires the expression of the orientation and posture of parts, things and the organization itself. In order to delimit and use the mathematical quantities that express poses, we must delimit the coordinate system and give the rules of expression.
Let's choose such a system, that is, there is an international coordinate system, and the posture we talk about is based on the international coordinate system or the Cartesian coordinate system that is said by the international coordinate system.
1. Orientation depiction:
Once the coordinate system is established, we can use a 3×1 azimuth vector to locate arbitrary points in the coordinate system. Because many coordinate systems are often delimited in an international coordinate system, it is necessary to attach a piece of information to the azimuth vector indicating in which coordinate system the delimitation is spoken.
2. Posture depiction:
We found that the orientation vector alone is not enough to accurately depict the orientation of the manipulator, and it is necessary to depict its posture to fully determine its orientation. In order to depict the pose of an object, we fix a coordinate system on the object and give an expression of that coordinate system relative to the reference coordinate system. Thus, the orientation of the point can be represented by vectors, and the pose of the object can be depicted with a coordinate system fixed to the object.
3. Pose depiction:
In robotics, orientation and posture often appear in pairs, so we call this combination pose, and 4 vectors form a group to indicate the orientation and posture information. and use them to depict a coordinate system, that is, a coordinate system can be equally depicted with an azimuth vector and a rotation matrix.
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KUKA robot maintenance start-up inspection
1. It is necessary to check the equipment before starting, and the operation can be started only after confirming that the equipment is defective;
2. Check and sort out the operation place to ensure that there are no flammable materials (such as oil rags, waste oil gloves, paint, perfume, etc.) and no air leakage, water leakage;
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KUKA robot start-up check
Step 1: View the environment
1. Recognize the ambient temperature: The ambient temperature of the KUKA control cabinet is required to be between 5°C-45°C, the working environment temperature of the robot body is 10°C-55°C, and the working temperature of some new models is 0°C-55°C (see the robot skills manual for details).
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Precautions for the operation of loading and unloading equipment – KUKA robots
The loading and unloading robot connects multiple punches and hydraulic presses together, reducing the investment in continuous stamping dies and high-speed punches, and realizing automatic continuous production with general equipment and molds. The loading and unloading manipulator can be connected with the coil active cutting system; The material can be vacuumed ...
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A detailed explanation of the TCP points of KUKA industrial robots
In order to depict the composition of the rigid body in space, it is necessary to attach the coordinate system of the target, and then confirm the composition of the coordinate system (origin orientation and the sentiment of the three coordinate axes), that is, 6 degrees of freedom are required to adequately depict the posture of the rigid body [1]. For industrial robots, something needs to be installed on a normal board ...
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The external axis of the KUKA robot operates variables and commands
Switching the axes of the external kuka robot to the bit arrangement in an asynchronous form means switching the synchronous and asynchronous forms of the external axes
Program example: $ ASYNC_AXIS='b1000'
Indicates the outer axis 1, 2, 3 from right to left ...
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KUKA robot power module KPS600/25-ESC error code and contents
The KUKA robot power module KPS600/25-ESC error code and content includes:
ERROR 52 The temperature in the boudoir is too high
ERROR 79 COMMUNICATION FAILURE BETWEEN THE EEPROM ON THE CONTROL UNIT
ERROR 65 ...
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Execution of the CELL.src program of the KUKA robot
1) Run the CELL.src program in T1 or T2 form, perform part (1) in the figure, the KUKA robot performs back to the HOME point, performs the BCO operation, the window displays "BCO has been reached", and the BCO operation makes the KUKA robot run to the track.
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Technical indicators of KUKA six-axis industrial robots
The six-axis industrial robot is a process test instrument used in the field of natural science related engineering and technology, and the common six-axis joint robot has six built-in servo motors, which directly drive the rotation of the six joint shafts through the reducer and synchronous pulley.
Six-axis industrial robots generally have ...
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The main components of KUKA industrial robots
Industrial robots are widely used in industrial production, car production, electrical appliances, food, etc., can replace repetitive machine operations, and are a kind of machine that relies on its own power and control to achieve various functions. It can withstand human command, and it can also operate according to pre-programmed procedures. ...
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KUKA robots are maintained at different times
1. Check and maintain the content for three months
(1) The cable of the control part
(2) Ventilation of the controller
(3) A cable connecting the mechanical body
(4) Whether the fixed condition of the connector is excellent
(5) Tighten the cover plate and various additional parts on the machine
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KUKA robot resolver-to-digital converter
KUKA robotic resolver-to-digital converters (RDCs) are used to collect motor orientation data. Eight resolvers can be connected on the RDC. In addition, the temperature of the motor is measured and analyzed. EDS is used to store non-volatile data in an RDC bin.
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What does the KUKA robot preventive maintenance cover?
What does a routine preventive maintenance check for a KUKA robot consist of?
back-up controller memory;
Monitor the robot at regular intervals, inspect the robot, wires and cables;
check the brake equipment;
Check the machine ...
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Check the electric drive of the robot before powering on - KUKA robot
The power of the electric drive equipment is simple, the speed change scale is large, the efficiency is high, and the speed and position accuracy are high. However, they are often associated with deceleration equipment, and direct drive is more difficult.
Electric drive equipment can be divided into direct current (DC), communication (AC) servo motor drive and stepper electric ...
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KUKA robot circuit board repair method
KUKA robot circuit board repair, for the equipment that has not undergone the function of the online test, some test instruments also provide a less formal but more useful treatment: because the power supply of the test instrument to the robot circuit board can also be applied to the corresponding power supply and ground of the equipment through the test clip.
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Structural analysis of finite elements in arc welding robots – KUKA robots
With the proposal of Made in China 2025 and the country's strong support for high-end manufacturing, the development of China's robot industry is very agile, and industrial robots are constantly changing the customs of welding robots.
Based on the ten-kilogram arc welding robot, with light weight, high stiffness and high speed functions, it is based on the ...
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Explanation of the BAS program of the KUKA robot
There is a program called BAS.SRC under the R1System in the KUKA robot program directory, which is mainly used to set the number of parameters related to the robot motion, such as coordinate system, velocity, acceleration, etc.
One. Online forms
Let's take a look at how to use the commonly used online form.
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KUKA KRC4 Robot Safety Node Error Fault Repair Analysis
After the KUKA robot is turned on, the teach pendant displays KSS15101 fault code, which means that the five safety nodes of the safety device from 0 to 4 channels are wrong, and the robot cannot be put into normal operation.
First of all, the KUKA robot is repaired ...
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Steps to replace a KVGA graphics card with a KUKA robot
1. Before replacing the KVGA, the following preparations must be made:
1. The robot control system must be permanently shut down and protected against unauthorized accidental restarts.
2. The buffer is closed.
3. Put the feeder cable in a powerless condition.
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The role of KUKA robot protective clothing
KUKA robot protective clothing is divided into a variety of types, different types have different functions, anti-static, dustproof, waterproof, etc. Here is a detailed introduction to the different types of robot protective clothing provided by Hongsheng Decheng, different characteristics and protective functions.
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Industrial robot operation technology – KUKA robots
Industrial Robot Motion Programming:
1. Understand the industrial robot, the operating environment setting of the teach pendant, and the use of programmable buttons of the teach pendant;
2. Manually operate the robot, the robot I/O communication interface, standardize the I/O board and equipment;
3. Establishment and storage of program data, ...
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