KUKA|prc - parametric robot control for Grasshopper

KUKA|prc enables you to program industrial robots directly out of the parametric modelling environment, including a full kinematic simulation of the robot. The generated files can be executed at the KUKA robot, without requiring any additional software.

 

For support, examples, and tutorials, please visit the Robots in Architecture forum at http://forum.robotsinarchitecture.org

 

This video should help you get started: http://vimeo.com/30874737

A video from our robot master class at the Design Modelling Symposium in Berlin, using KUKA|prc: http://vimeo.com/30506602

A quick overview of the most recent feature additions: http://vimeo.com/37480161

Most recent additions
 
Support for linear and rotary axes (MEMBERS ONLY)
Support for a automated solver for linear axes (coming soon for rotary axes)
Greatly improved caching and general performance
Several new robots including the massive KR500, the new Agilus KR10 R1100, the KR5 Arc HW (Hollow Wrist) and several Quantec models
Virtual Robot functionality now included in the KUKA|prc Core component
One slider for both normal and smooth simulation
Increased simulation fidelity
New component for including own robot cell in the simulation
New components for setting analog and digital outputs
New component for simulation analysis
More interpolation options
Movement components now use planes as input by default (can be changed via right-clicking)
 
Previous additions
 
Experimental support for external, linear axis (MEMBERS ONLY)
Improved NC-file support  (MEMBERS ONLY)
Added KUKA KR180 R2500 Quantec robot
New KUKA KR150-2 variant (access via right-click, variants)
Added new spindle as used at University of Sydney
Improved Command Weaver to work optionally with tree branches instead of items (use it e.g. to create more complex fabrication strategies)
Experimental new output in the Virtual Robot component sums up the difference of axis positions, can be used to spot singularities
New option for tool change command to just change geometry (e.g. gripper open to gripper closed)
Option to set the project's initial LIN and PTP speed in "Advanced Settings:
Option for improved compatibility with older KRC2 (and KRC1) controllers (BAS PTP_PARAMS, etc.)
Option to represent robot positions in wireframe in Simulation Settings
Improved Spline and Circular functionality
Reorientation checking is working again
Changed a few tool icons
Custom Robot bugfix
Small UI change (e.g. faster fade, menu draggable via full upper bar)
Custom Tool tool-id bugfix
Solved buffering issues (changes that take a Recompute Solution to stick)
General bugfixes

General Features

Robot control file generation for nearly all KUKA robots, including the new KRC4 control unit
Full kinematic robot simulation
Built upon Grasshopper
Implemented as a fully compatible, parametric GH component
Improved graphical user interface inside Grasshopper
Does not require any additional software, files can be directly executed at the robot
All robot instructions in a single *.src file
Various robot types directly implemented
Generic component that can include any KRL code

Toolpath Generation

End-effector visualization at all toolpath points or at slider position
Mass customization option for the automated generation of numbered robot control files
Extra components for dividing curves into toolpath sets
Adjustable start- and endposition of the robot job
Collision checking
Various approach/retraction strategies
Default spindle with parametric tool
Fully customizable end-effector geometry for every command, e.g. open and closed gripper
Support for combinations of LIN/PTP/Axis/CIR/SPLINE movements 

Kinematic Simulation

Inverse and forward kinematic solver
Custom robot models for kinematic simulation
Kinematic presets for various KUKA robots
Reachability analysis
Large axis reorientation checking
Axis limit checking
Adjustable custom base values
Adjustable custom tool values
Simultaneous simulation of multiple robots
Fluid motion interpolation
Support state bits (i.e. 8 strategies to approach a given frame)


The plugin has been tested with a variety of robots and PCs. If it does not work for you, please send an eMail to robots [at] robotsinarchitecture.org and we will get in touch.

The current KUKA|prc version was tested with:
Rhino 5
Grasshopper 0.9.0072


We hope you enjoy using KUKA|prc!

Sigrid & Johannes @ Association for Robots in Architecture

www.robotsinarchitecture.org


Support Email: ILF.YLHKQYKGUQLS3GAKF2FL@AY33SUFZ@
Plug-in rating:
4.333335
Average: 4.3 (3 votes)
Downloads:
Title Release Notes
KUKA|prc - parametric robot control for Grasshopper
2014-Mar-26
Major release with significant updates, bugfixes, and improvements. New robots, new tools, new functionality, increased speed and reliability.  
401 downloads
Version: 1.0.0.7
Language: English
KUKA|prc - parametric robot control for Grasshopper
2014-Mar-26
Greatly improved caching and general performance New robots: KR500, Agilus KR10 R1100, KR5 & Quantec models | Increased simulation fidelity | New component for custom robot cell in the simulation | New components for setting analog & digital outputs  
188 downloads
Version: 1.0.0.8
Language: English
KUKA|prc - parametric robot control for Grasshopper
2013-Sep-19
Significantly improved kinematic solver, new robots, new input types  
153 downloads
Version: 1.0.0.6
Language: English
KUKA|prc - parametric robot control for Grasshopper
2013-May-01
2013 release of KUKA|prc, with a dedicated Rhino 5 version. Added: KUKA Agilus, spindle, new interface  
162 downloads
Version: 1.0.0.5
Language: English
KUKA|prc - parametric robot control for Grasshopper
2013-Jan-30
Bugs from the previous BETA version have been fixed, alongside improvements in speed and stability.  
156 downloads
Version: 1.0.0.4
Language: English
KUKA|prc - BETA
2012-Oct-30
BETA release, rewritten robot-engine and numerous new features. Not compatible with previous versions. Introduces fluid robot simulation, PTP/LIN/axis movements, generic KRL component, integrated robot models, etc. Updated to support both GH8 and GH9.  
80 downloads
Version: 1.0.0.3
Language: English
KUKA|prc - STABLE
2012-Oct-30
STABLE release, based on previous KUKA|prc with several bugfixes and improvements. For users with existing KUKA|prc projects. Updated to support both GH8 and GH9.  
53 downloads
Version: 1.0.0.3
Language: English
KUKA|prc - parametric robot control for Grasshopper
2012-Jul-04
Maintenance release, fixed several non-critical issues  
183 downloads
Version: 1.0.0.2a
Language: English
KUKA|prc - parametric robot control for Grasshopper
2012-Apr-11
This is a major release and includes various improvements, including kinematic simulation of multiple robots, compatibility with the new KUKA KRC4 control unit, customizable end-effector geometry, reachability analysis, axis limits, etc.  
173 downloads
Version: 1.0.0.2
Language: English
KUKA|prc - parametric robot control for Grasshopper
2012-Feb-26
This is a bugfix release which fixes several problems reported by our members and was tested with the most up-to-date version of Grasshopper. See http://www.robotsinarchitecture.org/792/kukaprc-update for details  
104 downloads
Version: 1.0.0.1
Language: English
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