Closed AdwinK closed 1 year ago
Hi @AdwinK ,
v
is in m/s and there is no angular component.
We can't do a great deal to correct that. Parametrically generating the speed based on the curvature of your input curve, as I understand you're doing, sounds like the best compromise. We are looking into allowing users to choose to export our solved speeds rather than programmed speeds but I don't think that would necessarily help here because the orientation speed constraint still wouldn't be exported to the UR. movep
maintains linear speed and is exactly designed for this kind of application but when you reverse direction or make a very tight turn you inevitably go through a slower speed which movep
doesn't like. Depending on the tightness of the turn you may find that increasing the blend radius helps the situation by allowing the robot to retain more speed. In v1.4 (due for release before the end of the summer) we have done two things to improve this:
movep
and movel
where movel
doesn't have the same hard speed constraints.Thank you @sebandraos
I see there's a certain limitation on URscript and I am looking forward to the MoveL function in the upcoming update in v1.4.
Regarding on the installation of the latest version of HAL.UniversalRobots, I have the issue that grasshopper is not loading in the HAL gha, I believe it's related to issue similar to #22 & #69. I have tried with enabling COFF loading in GrasshopperDeveloperSettings, removing all other plugins and reinstalling but fail to fix it.
I at the end had to copy the HAL framework from another computer which haven't update to successfully load the component.
Hi
I am using a UR3 arm as a drawing bot with a custom pen tool head.
With the need of high precision, the speed is adjusted to extremely slow (5mm/s) and blending limited in 1mm radius.
I am facing 2 problems:
1.
I noticed the speed settings and acceleration settings doesn't maintain the robot in the same angular speed. i.e., for the same speed input, a shorter path is drawn faster than a longer path. (even if I input using the orientation limit)
https://user-images.githubusercontent.com/86712439/124733387-ba39ff80-df46-11eb-9b97-9198629588c6.mp4
For that I had to input various speed settings for every target (see below attached script), in order to prevent errors like "Protective Stop C153A5: Protective Stop: Position deviates from path: Wrist 3" when I want the TCP to follow the curve's direction but when the curve tangent changes dramatically. (i.e. extreme in curves)
I wonder if I am inputting in a wrong way or is there a way to prevent it. I couldn't use MoveJ as the movement of the TCP will stutter a lot which creates unwanted pen strokes.
2.
With extreme slow speed (5mm/s) drawing, in certain extreme turns the robot performs the error "Runtime error: MoveP cannot maintain speed when reversing direction. Adjust waypoint to make robot able to blend."
the following is a simplified GHX to recreate the error.
HAL maintain speed test.zip
HAL Version
The current HAL framework I am using is
EXTENSIONS
I had a problem to load the newest HAL framework and therefore stayed in ver. 1.3.26
Looking forward to your idea and reply.
Thank you.