实例介绍
【实例简介】KUKA打磨机器人所需，力矩控制介绍文档 KUKA打磨机器人所需，力矩控制介绍文档
【实例截图】
【核心代码】
Introduction .................................................................................................. 5 1.1 Target group .............................................................................................................. 5 1.2 Industrial robot documentation ................................................................................... 5 1.3 Representation of warnings and notes ...................................................................... 5 1.4 Terms used ................................................................................................................ 6 1.5 Trademarks ................................................................................................................ 7 2 Product description ..................................................................................... 9 2.1 Overview of KUKA.ForceTorqueControl .................................................................... 9 2.2 Functional principle .................................................................................................... 10 2.3 Components ............................................................................................................... 10 2.3.1 ATI DAQ F/T sensor system ................................................................................. 11 2.3.2 ATI Net F/T sensor system ................................................................................... 12 2.3.3 Schunk FTC sensor system .................................................................................. 14 2.3.4 Multi-power tap (MPT) .......................................................................................... 14 2.4 Motion types ............................................................................................................... 15 2.4.1 Sensor-guided motion ........................................................................................... 15 2.4.2 Motion with superposed force/torque control ........................................................ 16 2.5 Reference coordinate system: RCS ........................................................................... 17 2.5.1 RCS orientation: BASE ......................................................................................... 17 2.5.2 RCS orientation: TOOL ......................................................................................... 18 2.5.3 RCS orientation: TTS ............................................................................................ 19 2.5.4 RCS origin: TCP ................................................................................................... 20 2.6 Status monitoring functions ........................................................................................ 21 2.6.1 Break condition met and hold time exceeded ....................................................... 21 2.6.2 Maximum time exceeded ...................................................................................... 22 2.6.3 Maximum load exceeded (sensor coordinate system) ......................................... 23 2.6.4 Path limit exceeded .............................................................................................. 23 3 Safety ............................................................................................................ 25 4 Planning ....................................................................................................... 27 4.1 Geometry of the tool .................................................................................................. 27 4.2 Selecting the sensor system ...................................................................................... 27 5 Installation ................................................................................................... 29 5.1 System requirements ................................................................................................. 29 5.1.1 PCI slot assignment .............................................................................................. 29 5.2 Installing or updating KUKA.ForceTorqueControl ...................................................... 30 5.3 Licensing KUKA.ForceTorqueControl ........................................................................ 31 5.4 Uninstalling KUKA.ForceTorqueControl .................................................................... 31 6 Start-up and recommissioning ................................................................... 33 6.1 Start-up overview ....................................................................................................... 33 6.2 Mounting and connecting the ATI DAQ F/T sensor system ....................................... 33 6.3 Configuring the ATI DAQ F/T sensor system ............................................................. 34 6.4 Mounting and connecting the ATI Net F/T sensor system ......................................... 35 6.5 Configuring the ATI Net F/T sensor system ............................................................... 35 Contents 4 / 75 Issued: 11.09.2012 Version: KST ForceTorqueControl 2.3 V3 en (PDF) KUKA.ForceTorqueControl 2.3 6.6 Mounting and connecting the Schunk FTC sensor system ....................................... 36 6.7 Configuring the Schunk FTC sensor system ............................................................. 36 6.8 Configuring the user-specific sensor system ............................................................. 37 7 Programming ............................................................................................... 39 7.1 Creating a configuration file ....................................................................................... 39 7.2 FTCtrlConfig configuration ......................................................................................... 39 7.2.1 Sensor Settings tab .............................................................................................. 40 7.2.2 FT Controller tab ................................................................................................... 41 7.2.3 Break Condition tab .............................................................................................. 42 7.2.4 Path Limit tab ....................................................................................................... 43 7.2.5 Controller Tuning tab ............................................................................................ 44 7.3 Inserting inline forms ................................................................................................. 45 7.4 Inline forms ................................................................................................................ 45 7.4.1 FTCtrlInit ............................................................................................................... 46 7.4.2 FTCtrlInitComp ..................................................................................................... 47 7.4.3 FTCtrlCalibSens ................................................................................................... 48 7.4.4 FTCtrlOnBreak ..................................................................................................... 48 7.4.5 FTCtrlOnCP .......................................................................................................... 49 7.4.6 FTCtrlOffCP .......................................................................................................... 49 7.4.7 FTCtrlForce .......................................................................................................... 49 7.4.8 FTCtrlTorque ........................................................................................................ 50 7.4.9 FTCtrlEnable ........................................................................................................ 50 7.4.10 FTCtrlBreakTime .................................................................................................. 51 7.4.11 FTCtrlMonitorInit ................................................................................................... 52 7.4.12 FTCtrlMonitorStart ................................................................................................ 53 7.4.13 FTCtrlMonitorStop ................................................................................................ 53 7.5 Configuration examples ............................................................................................. 54 7.5.1 Pressing a cube onto an inclined plane ................................................................ 54 7.5.2 Pressing a cube onto an inclined plane, orientation compensation ...................... 54 7.5.3 Pressing a cube against a beveled edge .............................................................. 55 7.5.4 Pressing a cube against a beveled edge, orientation compensation ................... 56 7.6 Example programs .................................................................................................... 57 7.6.1 Motion program with sensor guidance .................................................................. 57 7.6.2 Motion program with superposed force/torque control ......................................... 58 7.6.3 Visualization program ........................................................................................... 58 8 Diagnosis ...................................................................................................... 61 8.1 Visualizing force/torque control ................................................................................. 61 9 System variables ......................................................................................... 63 9.1 Variable FTCtrlBreak ................................................................................................. 63 10 KUKA Service ............................................................................................... 65 10.1 Requesting support ................................................................................................... 65 10.2 KUKA Customer Support ........................................................................................... 65 Index ............................................................................................................. 73
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