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;
b = xyzabc(5)*pi/180;
c = xyzabc(6)*pi/180;
H = [ cos(b)*cos(a), cos(a)*sin(c)*sin(b) - cos(c)*sin(a), sin(c)*sin(a) + cos(c)*cos(a)*sin(b), x;
cos(b)*sin(a), cos(c)*cos(a) + sin(c)*sin(b)*sin(a), cos(c)*sin(b)*sin(a) - cos(a)*sin(c), y;
-sin(b), cos(b)*sin(c), cos(c)*cos(b), z;
0, 0, 0, 1];
end
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KUKA robot correction function
1. Specification: KUKA robot proofreading settings, KUKA robot calibration with or without load at the zero point of the robot mechanic.
KUKA Robot Proofreading View
Check to see if the KUKA robot school is correct about this orientation, if you don't grasp this orientation is correct or need to change it...
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KUKA truss robot maintenance method
1. Maintain good parts
Parts are an important part of CNC machine tool robots, the reason why the parts of CNC machine tool manipulators show severe wear and tear in the process of use, mainly because of the problems in people's devices, so that the orientation of parts is problematic.
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Problems that industrial robots focus on and solve - KUKA robots
At present, the use of robots in machine tools by domestic enterprises is still in its infancy, and many theoretical and practical problems have not been fully understood and handled. For example, the most common form of use is still a simple combination of machine tools and robots, each using a set of control systems. To get the most out of the machine ...
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Parameter settings for KUKA robots and Siemens touch screens
How to clean up common problems with infrared touch screen
1. Double-click is not very active
Open the infrared screen to adjust its activity and reduce the activity.
2. Under what conditions will drift occur
Because the operating principle of the infrared screen is to rely on infrared rays...
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Coordinate conversion criteria for KUKA robots
Those who have used KUKA robots should know that to indicate the orientation of a robot's Cartesian coordinate system, FRAME/POS/E3POS/E6POS data will be used, where:
-X/Y/Z: indicates the rectilinear coordinates of the Cartesian coordinate system;
-A/B/C: indicates Cartesian coordinates ...
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KUKA robot practical skills zero point failure causes
1. Reasons for zero point failure:
Before analyzing the cause of zero-point failure, let's first clarify a problem.
For a long time, we have been calling this fault "zero point drop", which is an inaccurate description. The zero point parameter of the KUKA robot will not be "lost", it is documented ...
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Industrial robot control system – KUKA robots
1. Program control system: apply a certain control effect to each degree of freedom, and the robot can complete the required space orbit.
2. Adaptive control system: when the external conditions change, in order to ensure the required quality or in order to improve the control with the accumulation of experience...
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Quadrilateral programming for KUKA robot programming
In the KUKA robot quadrilateral program, an accounting reference point is set, and other points of the quadrilateral are calculated with the reference point, and then the robot TCP is used to take a quadrilateral trajectory using the movement command. This program is for reference only, basic programming program.
...
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Variables and instructions related to the operation of external axes – KUKA robots
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, 4 from right to left. The example above shows that an external welding robot ...
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Functional characteristics of industrial robots - KUKA
The functional characteristics of industrial robots affect the operating power and reliability of robots, and the following functional policies should be considered in the planning and selection of robots:
(1) Leisure: Leisure is the primary policy to measure the level of robotics technology. The so-called leisure degree refers to the fact that the moving parts are related to the fixed ...
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Welding attitude adjustment of KUKA arc welding robot
According to the application status and development needs of the welding technology of KUKA welding robots, the traditional welding methods must not be able to meet the production needs to a certain extent, and the arc welding robot technology has been paid more and more attention by manufacturers. How to complete the batch production of arc welding robots, is the current arc welding machine...
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KUKA landed at the Industry Fair to lead industrial intelligence
The 21st China International Industry Fair (CIIF) will be held at the National Convention and Exhibition Center (Shanghai) from September 17 to 21, 2019. At booth E025 in hall 8.1H, KUKA will bring a series of digital and intelligent robot products and application processing plans to the show! All along, KU ...
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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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Features of the transfer robot – KUKA robot
1. Able to carry out high-precision packaging operations
According to the integration of the stacking robot with other machinery and equipment, the intelligent robot can completely complete the original messy packaging operation, saving a lot of labor for the company and making due contributions to the company's intelligent production and production.
...
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The control method of industrial robots - KUKA robots
At present, the most widely used robot on the market is industrial robots, which are also the most mature and complete robots. Industrial robots have a variety of control methods, what are the control methods of industrial robots?
1. Point Control (PTP)
...
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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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Industrial robots have requirements for joint drive motors
1) Rapidity. The time from obtaining the command signal to the completion of the required working state of the motor should be short. The shorter the time to respond to the command signal, the higher the sensitivity of the electric servo system, and the better the fast response function.
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Zero-point calibration of KUKA robots
The intent of mechanical zeroing is to make the robot's electrical zero point (encoder zero point) coincide with the mechanical zero point.
Friends who know CNC machine tools know that the first reference point (zero point) for the engine bed with incremental encoder is the point. Industry...
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KUKA robot collision recognition settings
If a robot collides with an object, the robot control system will increase the axis torque in order to overcome the resistance. This can cause damage to robots, tools, or other components. Bump recognition will reduce the risk of such damage. The bump recognition system monitors the shaft torque. If the ...
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KUKA robot external axis motor marshalling steps
In order to improve the welding attainability, the arc welding workstation usually uses a variety of positioners, and the common formforms of positioners include L-shaped positioners, tipping positioners, headstock positioners, etc. In the meantime, the L-type positioner and the tilting positioner have two external shafts, and some special working conditions require ...
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