Basics of Robot Programming
Today, we started learning Robots add-on for Grasshopper. The first two codes we experimented with were similar to the first week’s jogging exercises. In the first one called “axial jogging”, we had 6 number sliders to control the angles of the axes. Every number slider generates values between -Pi and +Pi. These numbers are joined into a text by adding a comma in between. Then, Create program and Simulate Program components of the Robots plug-in are used to convert this information into a robot pose.
This kind of input is mostly used in sending the robot to a home position, where the angles of the axes are needed regardless of what tool is mounted. In the second exercise, we experimented with plane inputs and used the GetPlane component of the Robots add-on. This component takes X, Y, Z coordinates and A, B, and C rotation angles to define a plane. When connected to the program, the robot will follow this plane.
The Robots add-on is free to use and can be downloaded here. We are using the Fifth edition. The add-on is installed by putting gha and DLL files into the Components Folder of Grasshopper. The files for our KR-20 robot are also here. These files should go into a folder named Robots inside of your Documents folder (in Windows).
