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[\/et_pb_text][\/et_pb_column_inner][\/et_pb_row_inner][et_pb_row_inner use_custom_gutter=”on” gutter_width=”2″ _builder_version=”4.16″ custom_margin=”-13px|||||” custom_padding=”9.7px|0px|0|0px|false|false” global_colors_info=”{}”][et_pb_column_inner saved_specialty_column_type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” parallax__hover=”off” parallax_method__hover=”on” custom_padding__hover=”|||”][et_pb_text _builder_version=”4.17.4″ text_font=”||||||||” text_line_height=”2em” header_font=”Poppins|600|||||||” header_font_size=”40px” header_line_height=”1.3em” hover_enabled=”0″ text_font_size_tablet=”16px” text_font_size_phone=”14px” text_font_size_last_edited=”on|phone” locked=”off” global_colors_info=”{}” sticky_enabled=”0″]<\/p>\n
Kuka|prc<\/a> is a collection of grasshopper<\/a> components which enables users to control the KUKA<\/a> robots parametrically.\u00a0While you are able to solve inverse kinematics for different models of robots and control the robot arms by setting up a predefined tool-path, you may not able to avoid collisions if they arise during the simulation.\u00a0<\/span><\/p>\n The aim of tool-path optimizer<\/em><\/strong> component is to find a collision free solution for a given tool-path by rotating the tool about its rotary axis.\u00a0This process include printing the axial map by analyzing the all possible tool-paths with different rotation degree and then finding a set of rotations within the map which contains no collisions or singularity.\u00a0\u00a0<\/span><\/p>\n <\/p>\n [\/et_pb_text][et_pb_image src=”https:\/\/www.parametriczoo.com\/wp-content\/uploads\/2021\/11\/collision-map.jpg” title_text=”collision-map” align_tablet=”center” align_phone=”center” align_last_edited=”on|desktop” _builder_version=”4.17.4″ custom_margin=”|-1vw||||” custom_margin_tablet=”||” custom_margin_phone=”” custom_margin_last_edited=”on|phone” animation_style=”slide” animation_direction=”right” animation_intensity_slide=”2%” hover_enabled=”0″ global_colors_info=”{}” width=”92%” sticky_enabled=”0″][\/et_pb_image][et_pb_text _builder_version=”4.16″ _module_preset=”default” hover_enabled=”0″ global_colors_info=”{}” sticky_enabled=”0″]<\/p>\n Collison<\/b>\u00a0MAP<\/strong><\/p>\n Collision map is the visual representation of collision zones in the toolpath. The X axis is the position of the tool along the toolpath from the start to the end position. Y axis represent the degree of the rotation of\u00a0 the axis 6. The black the polyline represent\u00a0the optimized\u00a0axis. Collisions , out of reach areas and singularities\u00a0\u00a0are presented with different colors, Your task is find a collision free path within the white zone from the start to end of the tool-path. This path is normally found by the component\u00a0automatically\u00a0after generation of the map.\u00a0<\/span>In case the Tool-path optimizer is not able to find a solution in the rendered axis map or if the automatic solution(s) still contains collisions , then it is possible to tweak the path within the axis map by adding or removing the control points. To edit the path simply zoom on the axis map display till the yellowish control points appear along the path. To add a control point simply click on a path segment and to remove one drag it out side the display. Modify the path till it is completely within the white zone of the axis map. If the KUKA|prc analysis is still showing collisions then you may need to increase the resolution or the domain of the axis map.<\/span><\/p>\n It is important to note the robot settings in the optimizer component must be identical to the KUKA|prc Core component which runs the simulation.<\/p>\n <\/p>\n [\/et_pb_text][\/et_pb_column_inner][\/et_pb_row_inner][\/et_pb_column][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” parallax__hover=”off” parallax_method__hover=”on” custom_padding__hover=”|||”][et_pb_image src=”https:\/\/www.parametriczoo.com\/wp-content\/uploads\/2023\/10\/v2ui.jpg” align=”right” align_tablet=”center” align_phone=”center” align_last_edited=”on|desktop” _builder_version=”4.17.4″ custom_margin_tablet=”0px|10vw||10vw||true” custom_margin_phone=”” custom_margin_last_edited=”on|desktop” animation_style=”roll” animation_direction=”top” animation_intensity_roll=”1%” hover_enabled=”0″ border_radii=”on|8px|8px|8px|8px” border_color_all=”#000000″ global_colors_info=”{}” title_text=”v2ui” sticky_enabled=”0″ force_fullwidth=”on”][\/et_pb_image][et_pb_code _builder_version=”4.17.4″ _module_preset=”default” hover_enabled=”0″ sticky_enabled=”0″]