Reading Notes on [Adaptive Robot control–mxautomation J. Braumann 2015]

Reading Sources:

1.Johannes Braumann, Sigrid brell-cokcan, Adaptive Robot Control (ARC)

Note:

Building upon an as of yet unnamed interface from KUKA that utilizes

Generic UDP packets to communicate with and control KUKA robots.

Use every network-capable device to stream info to the robot and process the return data

While the problem of Windows not being a real-time capable operating system persists, the integrated buffer

Give us a much larger leeway (room) so that brief communication issues does not has an impact on the robot ' s tool

Path or the stability of the communication. However, the buffer also prohibits any hard-real-time applications, i.e. processes

Where millisecond reaction times is needed.

kuka| PRC Core Solver builds its mathematical and geometric calculations upon

Opennurbs.

ARC does not has an offer of any simulation capabilities by itself, and only accepts data,

Interfaces with the robot, and visualizes the position data that gets sent back from

The robot-keeping the software slim and highly performant while allowing the user

To simulate other projects in kuka| PRC without disturbing the dataflow.

4 Interaction Strategies:

1.Default Mode

The most basic mode whose purpose are simply to transfer commands to the robot.

Once commands is connected to the ARC component they is immediately processed and

Sent to the robot. While the robot was already moving, additionally commands is streamed until

The interpreter ' s buffer has reached its defined capacity. From and on, executed commands is

Culled (culling) from the buffer and replaced with new commands. (Spill the water and throw it away.) If the data

From the ARC are changed, it immediately wipes the robot ' s buffer and starts streaming

New commands.

Adaptive Mode:

In comparison with default mode, adaptive mode users a much shallower buffer this contains only the

Bare minimum of commands to cover brief lags (lag time) in the Ethernet communication. While usually robot

Programs the user to set a speed override, adaptive mode attempts to keep the entire robot job

Completely parametric for as long as possible.  (What does it mean?) Only if a command is committed to

The robot ' s buffer it cannot be changed anymore. This allow us to incorporate sensoric feedback to continuously

Inform the fabrication process and all its parameters.

Problem:

-What ' s UDP communication?

Reading Notes on [Adaptive Robot control–mxautomation J. Braumann 2015]