javaKUKA play KUKA in Java

First Program

JavaKUKA is an open-source project for creating KRL (KUKA Robot Language) codes in Java. The first program drives the robot to cut polystyrene foam.

Step 1: create the tool path in java:
float[][] spline = new float[num_pts][];
for (int i = 0; i < num_pts; i++) {
    float theta = (float) (i * 7 * Math.PI) / (num_pts – 1);
    float x = -margin * X + i * (1 + 2 * margin) * X / (num_pts – 1);
    float y = Y0 + Y1 * (float) Math.cos(theta – Math.PI / 2);
    float z = -Y0 – Y1 * (float) Math.cos(theta + Math.PI);
    float[] point = { x, y, z };
    spline[i] = point;
}
A hot knife will follow the spline to cut the foam.

Step 2: Java writes the spline into KRL as a .src file. Finally, copy the first_program.src from the computer to KUKA (KRC:/R1/Program/) and run it. The correspondence between Java, KUKA, and KRL is as follows:

first4

FirstProgram.java includes header(), PTP(), SPL() and other methods. It produces the runnable .src file.

first_ill1

The image above shows that the trajectories of TCP (Tool Center Point) during the two cuts are identical, however, the knife has opposite orientations during the two cuts.

FirstProgram1_visual (dependencies: Processing and Peasycam) visualizes the foam and the tool path.

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