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Rotary table
1. External axes What’s the point in installing a rotary table when the robot already has six axes? While the robot arm is indeed agile, adding an external axis could make planning the tool path simpler. Once the external axes are correctly installed, KRL can directly drive the external axes. For example: {X 27.3, Y […]
Kinematics
This post explains position and orientation of the manipulator linkages in static situations. Kinematics, or the translations between joint angles (A1-A6) and tool positions (XYZABC), is KUKA’s backbone. This entry is of more theoretical than practical interest, as KUKA already facilitated us directly planning the tool’s motion rather than being concerned with the joint angels. 1. Transformation […]