Multirobot set up

[alexmkrolak]

I'm looking to program two KUKA arms using roboteam. I would like the TCP of one robot to be following a dynamic frame/base on the end of the other robot, e.g. for one robot to be holding a pen and writing on a moving workpiece held by the other robot.

One way I think this can be achieved is through using the "Create frame" component in the same way as programming synchronous movement on an external axis, but is there an example of how to set this up?

But I can also see a way of doing this through the "Kinematics" component as well? Any advice on which approach is better?

Also, from looking at this thread here, I'm a little confused as to where I can implement using the robot frames/tools rather than the hard coded bases. You mention Now you can add a number attribute to a Tool element to load a tool from the controller's TOOL_DATA array. This is only supported in KUKA. but I'm not 100% clear where to do this?

[visose]

Hi Alex, KUKA's RoboTeam is not currently supported. The equivalent in ABB (multimove) is supported, so the simulation can be reused, what's mainly missing is KRC code generation.
The AA has asked for this feature multiple times in the past (before your time). You can ask if the school/workshop is willing to sponsor this feature and I can send you a quote for it. I am happy to go test it on site, I live a 5 minute walk away from those two KUKAs.

[alexmkrolak]

Hmm okay, I'm still struggling somewhat with getting it functioning. Do you have a Multimove example file handy which uses linked frames?

[alexmkrolak]

Hi, just checking about my last question?

[visose]

Sorry I missed it. I'll try to make an example file and add it to the samples folder. Not sure when I'll have some time, but I'll reply here when it's available.

[alexmkrolak]

Hi Vicente, thanks, I'll check back in a few weeks if I haven't heard anything! Also re: our emails, Angel is working on a response there, so it is currently out of my hands. Thanks for all your help in the mean time!

[visose]

Hi @alexmkrolak, attached is an example with a multimove setup:
Multimove.zip

[visose]

Regarding your second question, this is explained better in the wiki than in the thread you linked, see: https://github.com/visose/Robots/wiki/Robot-libraries