TSy
April 19, 2024, 5:24am
2
See these topics. I think in KUKA.Sim (or KUKA.Sim add-on for VC) with RCS you can separately define mass data for tools and it does something with that info.
Hi,
Cycle times in VC are only estimates. Robot models are modeled to have real speed characteristics for joints but the acceleration is not accurate because VC robots don’t have dynamic model. That is the joint always accelerates the same way regardless what the load is. So for example joint 1 accelerates the same with extended arm and contracted arm and this is not the case in real robots.
-k
Generally any difference comes from different level of simulation, and difference in motion planning logic.
VC’s motion planning is “general purpose” so the real KUKA controller logic probably differs in many special cases. KUKA.Sim uses KUKA’s own robot controller simulator (RCS module), so the logic should be the same as on real robot controller, or at least very close to it.
The VC motion planning and simulation doesn’t take into account e.g. dynamics of the robot, so a robot arm with high …