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KUKA机器人力矩控制
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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
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KUKA System Technology
KUKA.ForceTorqueControl 2.3
For KUKA System Software 5.4, 5.5, 5.6, and 7.0, 7.1
KUKA Roboter GmbH
Issued: 11.09.2012
Version: KST ForceTorqueControl 2.3 V3 en (PDF)
KUKA.ForceTorqueControl 2.3
2 / 75 Issued: 11.09.2012 Version: KST ForceTorqueControl 2.3 V3 en (PDF)
© Copyright 2012
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Roboter GmbH.
Other functions not described in this documentation may be operable in the controller. The user has
no claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software
described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to
guarantee total conformity. The information in this documentation is checked on a regular basis, how-
ever, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
Translation of the original documentation
KIM-PS5-DOC
Publication: Pub KST ForceTorqueControl 2.3 en
Bookstructure: KST ForceTorqueControl 2.3 V3.1
Version: KST ForceTorqueControl 2.3 V3 en (PDF)
3 / 75Issued: 11.09.2012 Version: KST ForceTorqueControl 2.3 V3 en (PDF)
Contents
1 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
5 / 75Issued: 11.09.2012 Version: KST ForceTorqueControl 2.3 V3 en (PDF)
1 Introduction
1Introduction
1.1 Target group
This documentation is aimed at users with the following knowledge and skills:
Advanced KRL programming skills
Advanced knowledge of the robot controller system
Advanced knowledge of field bus interfaces
1.2 Industrial robot documentation
The industrial robot documentation consists of the following parts:
Documentation for the manipulator
Documentation for the robot controller
Operating and programming instructions for the KUKA System Software
Documentation relating to options and accessories
Parts catalog on storage medium
Each of these sets of instructions is a separate document.
1.3 Representation of warnings and notes
Safety These warnings are relevant to safety and must be observed.
Notes These hints serve to make your work easier or contain references to further
information.
For optimal use of our products, we recommend that our customers
take part in a course of training at KUKA College. Information about
the training program can be found at www.kuka.com or can be ob-
tained directly from our subsidiaries.
These warnings mean that it is certain or highly probable
that death or severe injury will occur, if no precautions
are taken.
These warnings mean that death or severe injury may
occur, if no precautions are taken.
These warnings mean that minor injury may occur, if no
precautions are taken.
These warnings mean that damage to property may oc-
cur, if no precautions are taken.
These warnings contain references to safety-relevant information or
general safety measures. These warnings do not refer to individual
hazards or individual precautionary measures.
Tip to make your work easier or reference to further information.
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