ftc_manual_en.pdf

(469 KB) Pobierz
FTCtrl
User Manual
User Manual for the RSI Force Control Package for
KUKA Robot Control KR C1, KR C2 and KR C3
Software Version V4.0 and higher
Version:
Date:
1.1
25.1.2005
Amatec Robotics GmbH
Landsberger Str. 63a
D-82110 Germering
e-mail: info@amatec.de
Tel.: +49 (0)89 / 894393-0
Fax: +49 (0)89 / 894393-10
FTCtrl Documentation / English
1
Product Description .......................................................................................................... 4
2
Setup ................................................................................................................................. 6
2.1 Hardware Requirements ................................................................................................... 6
2.2 Software Requirements..................................................................................................... 6
2.3 Installation Procedure ....................................................................................................... 7
2.4 Mounting the Sensor......................................................................................................... 7
2.5 Safety Notes ...................................................................................................................... 8
3
Programming Instructions................................................................................................. 9
3.1 Principle of Force Control ................................................................................................ 9
3.2 Classic Example: Cube on Sloping Plane....................................................................... 11
3.2.1 Pressing (Figure 5)...................................................................................................... 11
3.2.2 Pressing with orientation compensation (Figure 6) .................................................... 12
3.2.3 Pressing towards a joining bevel (Figure 8) ............................................................... 13
3.2.4 Pressing towards a joining bevel with orientation compensation (Figure 9).............. 14
3.3 Configuration Program FTCtrlConfig ............................................................................ 15
3.3.1 Property Sheet Sensor Settings ................................................................................... 17
3.3.2 Property Sheet Force Control...................................................................................... 18
3.3.3 Property Sheet Break Condition ................................................................................. 18
3.3.4 Property Sheet Path Limit........................................................................................... 19
3.3.5 Property Page Controller Tuning ................................................................................ 20
3.4 Integration of Force Control into KRL ........................................................................... 21
3.4.1 Force Control on User Layer (FTCtrlTech)................................................................ 21
3.4.1.1 FTCtrlInit................................................................................................................. 22
3.4.1.2 FTCtrlInitComp ....................................................................................................... 22
3.4.1.3 FTCtrlCalibSens ...................................................................................................... 23
3.4.1.4 FTCtrlOnBreak ........................................................................................................ 23
3.4.1.5 FTCtrlOnCP............................................................................................................. 23
3.4.1.6 FTCtrlOffCP............................................................................................................ 23
3.4.1.7 FTCtrlForce ............................................................................................................. 23
3.4.1.8 FTCtrlTorque........................................................................................................... 23
3.4.1.9 FTCtrlEnable ........................................................................................................... 23
3.4.1.10
FTCtrlBreakTime ................................................................................................. 24
3.4.2 Force Control On Expert Layer .................................................................................. 24
3.4.2.1 RSI Basics................................................................................................................ 24
3.4.2.2 RSI Structure of the Force Control.......................................................................... 24
3.4.2.3 Combination of Technology Package and Expert Programming ............................ 26
3.4.2.4 Motion Programming .............................................................................................. 26
3.4.3 Gravity Compensation ................................................................................................ 27
3.5 Visualization of measurements....................................................................................... 28
3.5.1 RSIMonitor ................................................................................................................. 28
3.5.2 User layer commands for RSIMonitor with FTCtrl.................................................... 29
3.5.2.1 FTCtrlMonitorInit.................................................................................................... 29
3.5.2.2 FTCtrlMonitorStart.................................................................................................. 29
3.5.2.3 FTCtrlMonitorStop.................................................................................................. 29
3.5.3 Network configuration for RSIMonitor ...................................................................... 29
3.5.3.1 RSIMonitor running on robot controller ................................................................. 30
FTCtrl User Manual
-2-
Version 1.1
FTCtrl Documentation / English
3.5.3.2 Monitor running on external PC.............................................................................. 30
3.5.3.3 Functionality of RSIMonitor ................................................................................... 32
4
Appendix......................................................................................................................... 33
4.1 Abbreviations.................................................................................................................. 33
4.2 References....................................................................................................................... 33
4.3 Utility Programs.............................................................................................................. 33
FTCtrl User Manual
-3-
Version 1.1
FTCtrl Documentation / English
1
Product Description
The control and programming of robots is usually done by specifying positions (PTP) or tra-
jectories (LIN, CIRC) that the robot shall move to or shall execute. This is basically only pos-
sible if the robot has no contact to its environment and thereby the positions can be reached
without collisions. However as soon as the robot has contact to a work piece, a decisive role
befits the contact forces and torques particularly if these forces and torques have an influence
on the process to be carried out. These process forces can not or can only be insufficiently
influenced by conventional mechanisms of robot programming. Therefore tools are often used
that at least can limit the process forces by mechanical compliances. Although there are ex-
pensive tools it is still difficult to set the nominal process forces and to keep them during the
complete process. In particular component tolerances and position tolerances also can have a
considerable influence on the process forces.
Force control offers a solution to these problems. The force control extends the KUKA robot
by the ability to control process forces, contact forces and torques at programmable nominal
values. Thereby the force-controlled robot can autonomously move to the position where the
programmable forces are applied to a work piece or tool without programming an explicit
move command (e.g. LIN {}). The appearing contact forces and torques are measured and
processed with a high frequency (every 12 ms). The necessary software is implemented in the
real time core of the robot control. This guarantees a high quality of the force control. It can
correspondingly be reacted very fast to deviations of the required nominal forces or torques.
Some application examples help to clarify the variety of usage possibilities:
•
Tension-free positioning (assembly)
The robot positions a work piece. Contact forces and torques are minimized by a cor-
responding robot movement such that no external forces act on the work piece at the
ending positions. Moving to stop
Keeping of process forces independently of the part’s position and tolerance (sticking,
polishing)
Setting and keeping an accurate-defined force, even if the environment conditions are
changing, for instance due to displacement of sticking material, or due to carry off ma-
terial by a polishing disk.
Keeping of complex force profiles during processing (grinding, roll-folding)
An accurately defined force profile is superimposed on a programmable trajectory
such that suitable forces are always applied according to the current robot position
Compensation of part tolerances by programming an active compliance of the robot
(joining processes)
For instance soft switching of the robot enables the sliding down a joining bevel with-
out having to program the necessary compensating movement.
•
•
•
FTCtrl User Manual
-4-
Version 1.1
FTCtrl Documentation / English
•
Delicate collision monitoring (Handling)
If the programmable force/torque limits are exceeded a free programmable error
handling can be invoked.
Besides the flexible, configurable contact force control the FTCtrl-Package offers a series of
safety relevant monitoring functions:
•
Sensor load monitoring
At overload of the sensor the robot is stopped and a destruction is prevented by that.
Programmable tolerance intervals for the programmed forces and torques
If the measured force is within the tolerance region of the nominal force (e.g. ±5 N
for a nominal force of 20 N), the control goal is reached and the force control will be
stopped. The robot control switches back to its normal position-controlled operating
mode. Thereby a robust design of the force control can be realized.
Timer-supervised control on programmed forces
If the programmed nominal forces are not reached before expiration of a programma-
ble timer, the force control can be stopped and error handling can be called.
Timer-controlled hold of nominal force
The programmed forces can be hold for a programmable time interval. After expira-
tion of the timer the robot control switches back to position-controlled operating
mode.
Travel limitation of force-controlled movement
Position changes of the robot at force control operating mode due to external forces
can be limited. If the traveled distance exceeds a programmable upper limit the force
control will be aborted and error handling will be called.
•
•
•
•
The FTCtrl- package is completely integrated (both hardware and software) into the KUKA-
robot control. The usage is organized in several layers: A graphical user interface is provided
to enter robot-specific and application dependent characteristic quantities and parameters.
Based on these inputs a configuration file is produced that contains all settings for the force-
controlled processing step. The actual processing step can be programmed as usual with the
robot programming language KRL whereby a set of selected force/torque KRL-commands are
available. In addition, there is the possibility to program freely the force control on an RSI
expert level.
FTCtrl User Manual
-5-
Version 1.1

Plik z chomika:

Inne pliki z tego folderu:

Inne foldery tego chomika:

Zgłoś jeśli naruszono regulamin