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, things need to be mounted at the end of a normal board to finish their job. In order to confirm the posture of the tool, a tool coordinate system (tool coordinate system) is bound to the tool, and the origin of the TCS is TCP (tool center point). In the process of robot track planning, the TCS pose in other coordinate systems is recorded and fulfilled in the program. TCP types include regular TCP, fixed TCP, and dynamic TCP.
(1) Conventional TCP: TCP moves with the robot's body
Industrial robots are generally pre-defined as TCS. The XY plane of the TCS is connected to the flange plane of the sixth axis of the robot, and the origin of the TCS coincides with the center of the flange. TCP is clearly in the center of the flange. The ABB robot calls TCP tool0, and the REIS robot calls _tnull. Although the default TCP can be used directly, in practical applications, such as welding, users often say that the TCP point line * * (this is actually the coordinate system tool0 posture of the welding gun), the orientation of the welding line is * * to record the orientation of the program, and the mood of the welding gun is to change the welding wire is * *.
(2) Fixed TCP
TCP is referred to as a static orientation on the outside of the robot's body. It is often used for gluing. The nozzle of the rubber tank is fixed. The robot catches the workpiece and moves it. It is essentially a workpiece coordinate.
(3) Dynamic TCP
With more sophisticated use, TCP can be extended to the outer axis of the robot body (outer axis), where the TCP requirement changes dynamically with respect to the flange.
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Introduction to KUKA Robot Load Testing
What is tool load data?
Tool load data refers to all the loads mounted on the robot flange. It is the mass that is additionally mounted on the robot and moved by the robot with it, and the values that need to be entered are mass, the center of gravity (the point at which the mass is affected by gravity.), the moment of inertia of the mass, and ...
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KUKA KR CYBERTECH ARC NANO product family robots
KUKA Industrial Robots The KR CYBERTECH ARC NANO product family offers unrivalled functionality and power density in the load range of 6 to 10 kg. The KR CYBERTECH nano series can be adapted to customer-specific needs and is suitable for a wide range of general rail applications.
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KUKA robots challenge automation – a new way of collecting oil and garbage bins
For us, it's easy to pick up something unsorted from the trash can – maybe a handkerchief, candy or screws of different sizes. But this is not designed for KUKA robots. "Picking up trash" is a top priority in the automation industry. This is important for robust algorithms in the machine learning discipline ...
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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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KUKA Robot General Safety Measures
KUKA Robotics only promises to use industrial robots in accordance with regulations and in a safety-conscious manner when the equipment and skills of the machines are in good condition. Incorrect use can lead to injury and property damage. Not all types of bots have this option. Letters about specific types of bots ...
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KUKA iiQoT monitors and optimizes the entire robotics team
KUKA iiQoT simplifies data-driven automation for businesses. To do this, the software uses the benefits of the Industrial Internet of Things (IIoT): it brings together the condition data of the entire robotics team, from hardware to software to controllers, in a single channel that is clear and unambiguous. KUKA ...
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KUKA robot KSS drive module upgrade operation
This function can be used to install KSS updates, e.g. from KSS 8.3.0 to KSS 8.3.1. After installing or updating the KUKA system software, the robot control system always performs an initial cold start. We believe that all relevant data should be archived prior to software updates. If you want, you can ...
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Steps to replace the battery of the KUKA robot
Precautions for replacing the battery:
It is necessary for the robot control system to be shut down and have protection measures against accidental restarts;
The power cord is de-energized;
It is necessary to wear gloves when disassembling.
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KUKA robot units are inspected before they are put into operation
Before the first operation of an industrial robot, it is necessary to carry out a review to ensure that the equipment and equipment are flawless and functional, can operate safely and identify faults. It is necessary for us to abide by the labor protection regulations of the country and region where we are located to check, and it is also necessary to test all safety ...
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The robot implements the predictive maintenance step – KUKA
Speculative protection cannot be achieved overnight, but needs to be completed at multiple levels and gradually. The following are the three key steps to start implementing speculative protection in the production equipment, please consult the data application experts of Xiamen Wutong Bolian for specific plans and steps:
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The KUKA robot replaces the battery
The battery of the KUKA robot is available in two orientations, one on the door and the other under the cooling channel, and is connected to the X305 plug on the control cabinet and protected by F305 fuse. The operating system leaves the factory with the battery plug X305 unplugged from the CCU to ...
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How the KUKA bot program works
1. By clicking on the "Program Operation Method" icon, you can view and select different methods.
2. The operation methods of the program are [Go], [Action], and [Single Process].
1. Go: refers to the uninterrupted connection of the program.
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KUKA robot KSS drive module upgrade method
This function can be used to install KSS updates, e.g. from KSS 8.3.0 to KSS 8.3.1. After installing or updating the KUKA system software, the robot control system always performs an initial cold start. We advocate archiving all relevant data prior to software updates. If needed, it can be ...
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The main precautions for welding with KUKA robots
1. It is necessary to conduct teaching assignments
Before the robot performs active welding, it is necessary for the operator to teach the robot the track of the welding gun and set the welding conditions.
Because it is necessary to teach, the robot does not weld to a wide range of products produced in a small number of products.
2. There must be ...
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KUKA robot teach pendant
The Cooka teach pendant is an interface between the supervisor application software and the user (robot). The teaching program is connected to the control cabinet by cable. When the robot performs actions such as jog feeder, program creation, program test execution, action execution, and attitude confirmation, we make ...
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Pose information conversion homogeneous transformation matrix programming
function H = KUKA_2_Tm(xyzabc) (KUKA robot)
% [x,y,z,A,B,C] (mm /deg) becomes a 4x4 matrix.
x = xyzabc(1);
y = xyzabc(2);
z = xyzabc(3);
a = xyzabc(4)*pi/180;
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The Kuka robot sets up a network connection
1. Fulfill X-Start to enter the boot application, in the boot application, click Settings, and the network connection dialog box appears.
2. If you choose not to use the IP address, please click not to use the IP address of the robot drive, if ...
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KUKA calibrator EMT KUKA robot zero correction step
1. Select the menu sequence to put into operation> Select Adjust > EMT > with load correction > Bias learning.
2. Enter the thing number. I admit it with a thing.
The Options window opens. The axis of everything that has not been learned shows ...
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Technological trends in KUKA industrial robots
The robot industry is a fast-growing industry in China for a period of time in the future, as one of the country's new strategic industries, robot skills reflect the comprehensive strength of national science and technology.
From 2010 to 2013, the sales of industrial robots in China ...
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An introduction to the functions of all KUKA robot software packages
1.FORCE TORQUE CONTROL / SENSOR COMMUNICATION
Choosing from a variety of KUKA signal processing software can be a small extension of your robot.
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