Hello,
I am developing a dynamic pick application in KUKA.Sim using a KR 240 R2500 prime robot.
I have a sensor that can detect a part on a table. The problem is that the part does not always arrive in exactly the same position or orientation.
The sensor can already determine information such as:
- Part X position
- Part Y position
- Part rotation angle
- Part detected / valid result
For example, the same part may arrive at different angles:
0°, 15°, 30°, -20°, etc.
My problem is understanding how to use this information so that the KUKA robot can automatically pick the part.
At the moment, I can create a fixed pick point using PTP/LIN, but this only works when the part is always in the same position and orientation.
I am trying to understand the correct way to implement this in KUKA/KRL and KUKA.Sim.
Project.vcmx (6.9 MB)