Pro software secondary development: basic software operation

在这里插入图片描述

Software Installation and Configuration

1. Installation of Pro software

1.1 Prerequisites

Make sure your computer meets the system requirements for Pro.
Download the installation package for Pro, which can be obtained from the official KUKA website or from an authorized dealer.

1.2 Installation steps

Run the installation program: Double-click the downloaded installation package to launch the installation wizard.
Read the license agreement: Read the Software License Agreement carefully and, if you agree, check the appropriate box.
Select Installation Type: Select "Full Installation" to include all components, or "Custom Installation" to select specific components.
Specify mounting location: By default, the software will be installed in theC:\Program Files\KUKA\SimProdirectory, but you can choose another location.
Start Installation: Click on the "Install" button and the installer will start installing the software.
Installation completed: After the installation is complete, there will be a completion screen where you can choose whether or not to launch the software immediately.

2. Configuring the software environment

2.1 Environment variable settings

Add the path to Pro to the system environment variable to ensure that the software can be recognized correctly.
move：
1. Open the Advanced tab in System Properties.
2. Click the "Environment Variables" button.
3. In the "System Variables" area, find thePathvariable, click "Edit".
4. Add the installation path for Pro, e.g.C:\Program Files\KUKA\SimPro\bin。

2.2 Software setup

Language Selection: Select your preferred language in the software settings.
Update check: Set whether the software checks for updates automatically.
License management: Make sure your license information is entered correctly to avoid feature limitations.

3. Verify installation and configuration

3.1 Start-up software

Double-click the Pro icon on your desktop or select it from the Start menu to launch the software.

3.2 Functional Testing

Open the sample project: Software usually contains sample projects that are used to test whether the software is working properly.
Create a new project: Try to create a new project to check if the robot can be programmed and simulated properly.

3.3 License validation

Select "About" in the "Help" menu of the software and check that the license information is displayed correctly and has not expired.

3.4 Environment variable validation

Open the command line interface and typekuka_simpro(Assuming your environment variables are set correctly, this will start Pro).
If the software starts successfully, the environment variables are set correctly.

4. Example: creating a new project

# The following steps describe how to create a new project in Pro for robot programming and simulation.
# Note: This is not the actual code, but a description of the operational steps.

# Step 1: Launch Pro Software
# Open the Pro software and enter the main screen.

# Step 2: Choose "File" & gt; "New" & gt; "Project"
# In the pop-up dialog box, select the project type, e.g. "Robot Cell".

# Step 3: Specify project name and save location
# Enter the project name, select the save location and click "Save".

# Step 4: Select robot model
# In the Select Robot dialog box, select the robot model you want to use from the list.

# Step 5: Configure the robot working environment
# Add tables, fixtures, workpieces, and more to build your robot's work scenarios.

# Step 6: Programming and Simulation
# Use Pro's programming tools to write programs for the robot and perform simulation tests.

By following these steps, you can ensure that the Pro software is in yourcalculatorIt is correctly installed and configured on the robot and is capable of functioning properly. This provides a solid foundation for performing robot programming and simulation.

Software Interface and Basic Functions

5. Familiarize yourself with the Pro interface

Pro Softwareinterface designIntuitive and designed to provide an efficient robot simulation and programming environment. The interface consists of the following main components:

menu bar: Located at the top of the interface, it provides options for the main functions such as File, Edit, View, Simulation, and Tools.
toolbar (in computer software): Immediately below the menu bar, it contains shortcut buttons for frequently used operations, such as New, Open, Save, Run Simulation, and so on.
Project Tree: Located on the left side of the interface, it displays all the components of the current project, including robots, workstations, programs, etc., for easy management and navigation.
3D view: Occupies the center of the interface and is used to display a 3D model of the workstation, which can be rotated, zoomed and panned to view the workstation from different angles.
Property Panel: Located on the right side of the interface, it displays the properties of the currently selected object and allows the user to modify these properties, such as the position of the robot, the dimensions of the workstation, and so on.
status line: Located at the bottom of the interface, it displays information about the status of the software, such as hints for the current operation and the progress of the simulation.

6. Understanding basic operations

The basic operations of Pro cover the entire process from creating a project to running a simulation. The following are some of the key operations:

Create a new project: A new project can be created by selecting "New" from the "File" option in the menu bar. In the new project, the user can define the layout of the workstation, including the addition of robots, artifacts, tools, and so on.
Importing robot models: In the project tree, select "Robot" and then use the "Import" button in the toolbar to select and import a robot model from the KUKA library.
Programming and SimulationProgramming is performed using KRL (KUKA Robot Language), which provides a programming environment in which the user can write and edit robot programs. After programming, the "Run Simulation" button allows you to observe the actual motion of the robot in the workstation.
Saving and loading projects: Once the project is complete, you can save the project locally using the "Save" option in the "File" menu. The next time you need to continue editing, select "Open" to load the project.

7. Introduction to toolbars and shortcuts

7.1 Toolbar

The toolbar contains a series of shortcut buttons for quickly performing common tasks. For example:

newly built: Create a new project.
show (a ticket): Load a saved project.
save (a file etc) (computing): Saves the current project.
running simulation: Start the simulation run of the workstation.
Stop the simulation: Stop the current simulation run.
reprovision: Restores the workstation to its initial state.

7.2 Shortcuts

Pro supports a variety of shortcut keys to improve operation efficiency. The following are some commonly used shortcuts:

Ctrl + N: Create new projects.
Ctrl + O: Open the project.
Ctrl + S: Save the project.
F5: Run the simulation.
Esc: Stop the simulation.
Ctrl + Z: Undo the previous step.
Ctrl + Y: Redo the previous operation.

7.3 Example: Programming with KRL

// KRL sample code: robot moves to a specified position
moveL p100, v1000, z50, tool0.

In the above code:

moveLIndicates a linear move command.
p100is the name of the target location, which needs to be pre-defined in the project.
v1000Defines the movement speed in millimeters per second.
z50is the turn zone data that defines the radius of the robot's turn near the target position.
tool0is the tool coordinate system that defines the position and orientation of the robot's tools.

The user can enter the above code into Pro's programming environment and then run the simulation to see if the robot moves accurately to the preset position.

By familiarizing yourself with the software interface, mastering the basic operations, and understanding the toolbars and shortcuts, you can use Pro to simulate and program robotic workstations more efficiently. This not only helps to increase the efficiency of design and programming, but also reduces production errors and costs by identifying and solving problems before they are actually applied.

Pro Software Basics: Creating and Editing Robots

8. Creating robot models

Creating a robot model in Pro software is the first step in realizing an automated production simulation. The process involves selecting the robot type, defining its position and orientation, and configuring basic parameters. The following steps guide you on how to create a robot model:

Open Pro Software: After launching the software, enter the main interface.
Select Robot Type: Select the KUKA robot series in the "Library", e.g. KR CYBERTECH series.
Define robot position: Use the software's 3D environment to position the robot by dragging and dropping or entering coordinates.
Configuration parameters: Set parameters such as the robot's working range and load capacity.

8.1 Example: Creating a KR CYBERTECH 12 R1600 Robot

Assuming you are creating a KR CYBERTECH 12 R1600 robot model in Pro, here are the steps:

Open the software: Launch Pro.
Select Robot: Find and select "KR CYBERTECH 12 R1600" in the "Library".
localization robot: Place the robot at the appropriate location on the workstation, e.g. at coordinates (0, 0, 0).
Configuration parameters: Set the maximum load of the robot to 12kg and the working radius to 1600mm.

9. Editing robot parameters

Editing robot parameters allows you to tailor the performance of your robot to your specific application needs. This includes, but is not limited to, load, velocity, acceleration, and joint limits. Adjustment of parameters directly affects the robot's motion planning and workstation efficiency.

9.1 Example: Adjusting the load and speed of a KR CYBERTECH 12 R1600

Suppose you need to adjust the load of KR CYBERTECH 12 R1600 to 10kg and the speed to 100mm/s. The following is the procedure:

Select Robot: Select the KR CYBERTECH 12 R1600 robot in the workstation.
Open the parameter editor: Select "Edit Parameters" from the right-click menu.
Adjustment of the load: In the parameter editor, find the "Load" option and adjust it from 12kg to 10kg.
Adjustment speed: Also in the parameter editor, find the "Velocity" option and adjust it from the default value to 100mm/s.

10. Importing customized robots

The Pro software supports the import of customized robot models, which is useful for scenarios where a non-standard KUKA robot is used or where a specific design is required. Customized robot models are usually provided in a CAD file format such as STEP or IGES.

10.1 Example: Importing a customized KUKA robot model

Suppose you have a custom-designed KUKA robot model saved in STEP format. The following are the steps to import this model:

Prepare the document: Make sure your custom robot model is saved in STEP format.
Open Pro: Start the software and enter the workstation editing mode.
Import model: Select "File" > "Import" > "CAD Models" and then select your STEP file.
Adjustment of the model: After importing, you may need to adjust the position and orientation of the model to fit the workstation layout.
Configuration parameters: Use the Parameter Editor to enter the appropriate parameters, such as load, working radius, etc., based on the specifications of the customized robot.

10.2 Notes

When importing a custom robot model, ensure that the model's joints and ranges of motion are compatible with Pro software.
When adjusting the parameters, refer to the technical specifications provided by the robot manufacturer to ensure the accuracy of the simulation.

By following these steps, you can master the basic operations of creating, editing, and importing robot models in Pro Software, laying the foundation for subsequent automated production simulations and secondary development.

Pro software secondary development: basic software operation

11. Programming and simulation fundamentals

11.1 Learning the KRL Programming Language

KRL (KUKA Robot Language) is a programming language used by KUKA robots, which allows the user to control the robot's movements and operations.KRL is a structured language, similar to C, but designed for robot programming. Below is a simple example of a KRL program to control a robot moving to a predefined position:

// Define a program to move the robot to a specified position.
program MoveToPosition
  // Define a procedure that contains the move instruction
  procedure MoveToPosition
    // Move to a predefined position
    moveL p100, v1000, z10, tool0; end
  end
end

In this example:

program MoveToPosition A program is defined.
procedure MoveToPosition Defines a procedure that contains specific move instructions.
moveL is a linear movement instruction that controls the robot to move along a straight line to positionp100The speed isv1000The accuracy isz10The use of the tool coordinate systemtool0。

11.2 Creating and Editing Programs

Creating and editing a KRL program in Pro Software can be done by following these steps:

Open Pro Software: Start the software and load a robot model.
Creating a new program: In the software interface, select "Create" - > "Program", enter the name of the program, such as "MoveToPosition".
edit a program: In the program editor, the KRL code can be entered. For example, the above example can be addedMoveToPositionProcess.
Save the program: When editing is complete, select "File" - > "Save" to make sure the program is saved.

Example: Creating a Simple KRL Program

// Create a simple KRL program for controlling robot movement
program SimpleMove
  procedure SimpleMove
    // Set the speed of the robot
    velSet v1000; // Move to a predefined position.
    // Move to a predefined position
    moveL p100, v1000, z10, tool0; // Stop the robot.
    // Stop the robot
    stop; end
  stop; end
stop; end

In this example, we first set the speed of the robot and then move to positionp100And finally stop the robot.

11.3 Run and Debug Simulation

Running and debugging simulations in Pro is a critical step in ensuring program correctness and optimizing robot paths.

Load program: In the software, select "File" - > "Open" to load the previously created KRL program.
running simulation: Click on the "Run" button to start the simulation. The software will simulate the movement of the robot according to the program instructions.
debugging program: If there is an error in the program, you can use the "Debug" function. While the program is running, click on the "Pause" button and then execute the code step by step to check the execution of each step.

Example: Running and Debugging a KRL Program

Suppose we have the following KRL program for controlling the robot to move between two points:

program MoveBetweenPoints
  procedure MoveBetweenPoints
    moveL p100, v1000, z10, tool0;
    moveL p200, v1000, z10, tool0;
  end
end

running simulation: After loading the program, click on the "Run" button and observe whether the robot can correctly run from thep100move top200。
debugging program: If the robot doesn't move as expected, you can click "Pause" and then step through the process, checking each of themoveLThe parameters of the command are correct.

By following these steps, users can effectively learn the KRL programming language, create and edit KUKA robot programs, and run and debug simulations in Pro software to ensure accurate and efficient robot operation.

Pro software secondary development: development environment settings

12. Setting up the development environment

Before starting the secondary development of Pro Software, you first need to set up a suitable development environment. This includes selecting a suitable integrated development environment (IDE), installing the necessary software packages, and configuring the development tools. The following steps will guide you through setting up a basic development environment:

Select IDE: Visual Studio is recommended as a development environment because it provides strong C# and C++ support, as well as a wealth of plug-ins and debugging tools.
Installing Pro: Make sure you have Pro software installed on your system, which is a prerequisite for secondary development.
Installation of .NET Framework, so you need to make sure you have the latest version of the .NET Framework installed on your system.

12.1 Example.Visual Creating a new project in Studio

// Create a new C# console application project in Visual Studio
// 1. Open Visual Studio
// 2. Select "Create new project".
// 3. Select "Console Application (.NET Framework)".
// 4. Enter the project name, e.g. "KUKA_Sim_Pro_Development".
// 5. Select project save location
// 6. Click "Create"

// The following code example shows how to print "Hello, Pro!" in a C# project.
using System;

namespace KUKA_Sim_Pro_Development
{
    class Program
    {
        static void Main(string[] args)
        {
            Console.WriteLine("Hello,  Pro!");
        }
    }
}

13. Importing the SDK

Pro provides a Software Development Kit (SDK) for extending software functionality or integrating custom solutions.The SDK contains the necessary class libraries, interface definitions, and sample code to help developers get started quickly.

13.1 Steps

Download SDK: Download the Pro SDK from the official KUKA website.
Adding References: In Visual Studio, right-click on the project -> Manage NuGet Packages -> Browse -> Search for Pro SDK -> Install.
Importing Namespaces: In a C# code file, use theusing statement to import the namespace in the SDK.

13.2 Example: Importing the Pro SDK and using it

// Import the Pro SDK namespace
using KUKA.SimPro;

namespace KUKA_Sim_Pro_Development
{
    class Program
    {
        static void Main(string[] args)
        {
            // Create an instance of Pro's Robot object.
            Robot robot = new Robot();
            // Call methods in the SDK
            robot.MoveToPosition(new Position(100, 200, 300));
        }
    }
}

14. Configuring compilation options

In order to ensure that the code interacts correctly with the Pro SDK, the project's compilation options need to be configured correctly. This includes setting the correct .NET Framework version, adding the necessary references, and configuring any specific compiler directives.

14.1 Steps

Setting the .NET Framework 4.7.2" or later: right-click on the project -> Properties -> Application -> Target Framework -> select ".
Adding References: Make sure you have added all the necessary references to the Pro SDK.
Configuring compiler directives: In the project properties, you can add preprocessor directives such as#define KUKA_SIM_PROThis helps to distinguish Pro-specific code segments in the code.

14.2 Example: Configuring Project Properties

In Visual Studio, right-click Project -> Properties -> Build -> Preprocessor Definitions -> AddKUKA_SIM_PRO。

// Use preprocessor instructions
#if KUKA_SIM_PRO
    // Pro-specific code can be written here
    using KUKA.SimPro;
#endif

namespace KUKA_Sim_Pro_Development
{
    class Program
    {
        static void Main(string[] args)
        {
#if KUKA_SIM_PRO
            // Create an instance of Pro's Robot object.
            Robot robot = new Robot();
            // Call methods in the SDK
            robot.MoveToPosition(new Position(100, 200, 300));
#endif
        }
    }
}

With these steps, you have successfully set up the secondary development environment for Pro Software and can begin exploring the features in the SDK and developing custom solutions. Next, you can dive into the SDK documentation to learn how to use the various APIs to control the robot, read sensor data, or create complex simulation scenarios.

Secondary Development Tutorials

15. Creation of customized tools

Creating custom tools is an important part of secondary development in Pro Software, allowing users to design and implement personalized tool models for specific production needs. Below is a step-by-step example of how to create a custom tool:

Importing Tool Models: First, a 3D model needs to be imported in Pro as a basis for customizing the tool. This is usually a file in .STL or .STEP format.
Defining the tool coordinate system: After importing the model, you need to define the tool'sTCP(Tool Center Point) coordinate system, which is the key point for the robot to recognize the position of the tool during operation.
Setting Tool Properties: These include the mass of the tool, the position of the center of gravity, and the range of motion of the tool, which are attributes that will affect the motion planning of the robot in the simulation.
Programming control: Write code to control the motion and operation of customized tools using KRL (KUKA Robot Language) or through an API interface.

15.1 Example code: defining a tool coordinate system

// Define the tool coordinate system
TCPDef MyCustomToolTCP
{
  // The TCP position of the tool
  Position: [100, 0, 0], // the tool's TCP position.
  // The TCP direction of the tool
  Orientation: [0, 0, 0, 1], // The TCP orientation of the tool.
  // The mass of the tool
  Mass: 5, // The tool's center of gravity.
  // The center of gravity of the tool
  CenterOfMass: [0, 0, 0], // The tool's range of motion.
  // The range of motion of the tool
  Reach: 1500
}

16. Development of extensions

The Pro software provides a rich API that allows developers to add new functionality or improve existing functionality for more complex application scenarios. This includes, but is not limited to, adding new sensors, developing custom motion algorithms, or integrating advanced vision systems.

16.1 Example: Developing a Custom Sensor

Suppose we need to develop a customized temperature sensor to monitor the temperature changes in the working environment, here is a simple step by step implementation:

Designing Sensor Models: Create a 3D model to represent the sensor and define its position and properties in the virtual environment.
Writing Sensor Logic: Using Pro's API, write code to simulate sensor readings and data processing.
Integration into the simulation environment: Integrate custom sensor models and logic into Pro's simulation environment to ensure it interacts properly with robots and other devices.

16.2 Example Code: Customizing Temperature Sensor Readings

# Python sample code to develop a custom temperature sensor using the Pro API

import kukasim_api

class CustomTemperatureSensor:
    def __init__(self, location):
        self.location = location
        self.temperature = 20.0  # Initial temperature set at 20 degrees

    def read_temperature(self):
        # Analog reading of temperature data
        self.temperature += 0.5  # Increase temperature by 0.5 degrees for each reading
        return self.temperature

# Create sensor instances
sensor = CustomTemperatureSensor([100, 100, 100])

# Read temperature data
temperature = sensor.read_temperature()
print(f "Current temperature:{temperature}Degree.")

17. Integration of external programs

The Pro software supports integration with external programs, which can be Python scripts for data processing, advanced computationalMATLABprogram, or a C# application for real-time communication. By integrating external programs, the Pro can be enhanced for more complex simulation and control.

17.1 Example: Data Processing with Python

Assuming we have a Python script for processing sensor data from Pro, here are the steps on how to call this script in Pro:

Writing Python scripts: Create a Python script to process the data, for example, to clean, analyze, or convert the data format.
Configure Pro: Configure external program calls in the software to ensure that the Python environment is set up correctly.
invoke a script: During simulation, Python scripts are called through the API to process real-time data.

17.2 Example code: Python data processing scripts

# Python sample code for processing sensor data acquired from Pro

def process_sensor_data(data):
    """
    Processes sensor data, e.g., calculates the average temperature.

    Parameters.
    data (list): list of sensor readings.

    Returns: float: Average temperature.
    float: Average temperature.
    """
    total = sum(data)
    average = total / len(data)
    return average

# Example data
sensor_data = [20.5, 21.0, 21.5, 22.0, 22.5]

# Processing data
average_temperature = process_sensor_data(sensor_data)
print(f" Average temperature:{average_temperature}Degree.")

The above steps and examples show the potential and flexibility of the secondary development of Pro software, which allows the user to customize the tools, develop new functionalities and integrate external programs according to specific needs, thus enabling more advanced automation and intelligent production simulation.

Advanced Simulation and Optimization

18. Advanced simulation techniques

In Pro software, advanced simulation techniques are mainly concerned with the analysis of theroboticsof precise control, construction of complex scenarios, and in-depth analysis of simulation results. Here are some key tips:

18.1 1. precise control of robot motion

Pro allows the user to precisely control robot motion through a programming interface. For example, using KRL (KUKA Robot Language) it is possible to write customized robot programs to achieve specific motion trajectories.

Sample code:

// KRL Code Example: Controlling Robot Movement Along a Specific Path
PROC myCustomPath()
    // Define the target point
    
    
    

    // Control robot movement to point p1
    LIN p1, v1000, z10, tool0.

    // Move to point p2
    LIN p2, v1000, z10, tool0; // Move the robot to point p2.

    // Motion to point p3
    LIN p3, v1000, z10, tool0.
ENDPROC

18.2 2. Construction of complex scenes

Pro supports the import of CAD models to create complex production environments. By adjusting the position, rotation and scaling of the model, you can accurately simulate the actual production line.

Example Steps:

Importing CAD models: Use the "Import" option under the "File" menu to select the CAD file.
Adjusting the model position: In the Scene view, select the model and use the Move tool to adjust its position.
Rotate and Zoom: Use the "Rotate" and "Scale" tools to precisely adjust the orientation and size of the model.

18.3 3. In-depth analysis of simulation results

Pro provides a variety of tools to analyze simulation results, including collision detection, path optimization, and performance evaluation. With these tools, potential production bottlenecks can be identified and resolved.

Example Analysis:

collision detection: After running the simulation, the robot is checked for collisions with its surroundings to ensure production safety.
Path Optimization: Analyze robot motion paths to find optimized solutions to reduce motion time or energy consumption.
Performance Evaluation: Evaluates the performance of a robot under specific tasks, such as cycle time, accuracy, etc.

19. Optimizing simulation performance

The simulation performance of Pro can be optimized by the following strategies:

19.1 1. Reduction of scenario complexity

Removing unnecessary models and details and reducing the number of objects in the scene can significantly improve simulation speed.

19.2 2. Use of multi-core processors

Pro supports multi-threaded processing, ensuring that the software takes full advantage of multi-core processors, which can accelerate the simulation process.

19.3 3. Adjusting simulation accuracy

Adjust the simulation accuracy as needed; lower accuracy can be traded for faster simulation, but some detail may be sacrificed.

20. Troubleshooting and commissioning

The following steps can help with troubleshooting and debugging when you encounter problems in Pro:

20.1 1. Checking the error log

Pro logs runtime errors and warning messages, and examining the error log is the first step in locating the problem.

20.2 2. Step-by-step running of the simulation

By running the simulation step-by-step, it is possible to observe the exact moment when the problem occurs, which helps to localize the source of the error.

20.3 3. Using debugging tools

Pro provides debugging tools, such as breakpoint setting, variable monitoring, etc., which can help to deeply understand the running state of the program.

Sample code:

// KRL Code Example: Setting Breakpoints for Debugging
PROC myCustomPath()
    LIN [1000, 0, 0, 0, 0, 0, 0], v1000, z10, tool0; // Breakpoint 1
    LIN [0, 1000, 0, 0, 0, 0, 0], v1000, z10, tool0; // Breakpoint 2
    LIN [0, 0, 1000, 0, 0, 0], v1000, z10, tool0; // Breakpoint 3
ENDPROC

In the above code, it is possible to add a new line to each of theLINDebugging is performed by setting breakpoints after commands and observing the robot's motion at each point.

With the above tips and strategies, you can effectively perform advanced simulation and optimization in Pro, while quickly locating and solving problems encountered during simulation.

Project Practices and Case Studies

21. Project practice steps

It is vital to follow a series of standardized steps while carrying out a secondary development project practice for Pro Software. These steps not only ensure a smooth project, but also increase development efficiency and quality. Below, we will explore these steps in detail:

demand analysis
- Identify project goals and needs.
- Analyze the available features and limitations of the Pro software.
- Identify the need and potential value of secondary development.
Planning and Design
- Create a detailed development plan.
- Design the architecture and process for secondary development.
- Choose the right development tools and programming language (e.g. C#).
Environment Setup
- Install the Pro software.
- Configure the development environment, such as Visual Studio.
- Make sure all the necessary libraries and APIs are in place.
Coding Realization
- Programming using Pro's API.
- Implement customized functions such as path planning, collision detection, etc.
- Write clear, maintainable code.
Testing and validation
- Develop test cases to ensure correct functionality.
- Perform unit testing, integration testing and system testing.
- Verify that the secondary developed functionality meets the project requirements.
Deployment and training
- Deploy secondary modules into Pro.
- Train operators to ensure they are able to use the new features correctly.
- Gather feedback and make necessary adjustments and optimizations.
Maintenance and Updates
- Periodically check the operational status of the secondary development module.
- Maintain and update based on software updates and user feedback.
- Maintain compatibility with Pro software versions.

22. Case studies and applications

22.1 Case 1: Customized Path Planning

application scenario

Robot path planning with Pro is a common requirement in the automotive manufacturing industry. However, standard software may not be able to meet all specific production needs, such as specific trajectory optimization or avoidance of specific obstacles. Secondary development allows for more accurate path planning.

Sample Implementation Code

// C# code example: Customized path planning using the Pro API
using KUKA.SimPro.API;

public class CustomPathPlanner
{
    public void PlanPath(Robot robot, List<Point> waypoints)
    {
        // Initialize the path planner
        PathPlanner planner = new PathPlanner(robot);

        // Setting the path point
        foreach (Point waypoint in waypoints)
        {
            planner.AddWaypoint(waypoint);
        }

        // Perform route planning
        Path path = planner.Plan();

        // Verify the path
        if (path.IsValid)
        {
            // Applying paths to robots
            robot.SetPath(path);
        }
        else
        {
            // Handle invalid paths
            Console.WriteLine("Path planning failed.");
        }
    }
}

In the above code, we have created aCustomPathPlannerclass, which uses Pro's API to plan robot paths. The paths are created by adding a new class to thePathPlannerobject to add a series of path points, we can customize the robot's movement trajectory. Finally, we check the validity of the path and apply it to the robot.

22.2 Case 2: Collision Detection and Avoidance

application scenario

In complex production environments, collision detection and avoidance between robots and other equipment or workpieces is key to ensuring production safety. Secondary development can enhance Pro's collision detection capabilities to fit specific production layouts.

Sample Implementation Code

// C# Code Example: Collision Detection with the Pro API
using KUKA.SimPro.API;

public class CollisionDetector
{
    public bool CheckCollision(Robot robot, List<Obstacle> obstacles)
    {
        // Initialize the collision detector
        CollisionDetector detector = new CollisionDetector(robot);

        // Check for collisions with obstacles
        foreach (Obstacle obstacle in obstacles)
        {
            if (detector.IsColliding(obstacle))
            {
                // Collision
                return true;
            }
        }

        // No collision detected
        return false;
    }
}

In this example, we define aCollisionDetectorclass to detect collisions between the robot and a series of obstacles. This is accomplished by traversing the list of obstacles and using theIsCollidingmethod, we can determine if the robot is colliding with any obstacles. If a collision is detected, the function returnstrueOtherwise, returnfalse。

23. Frequently asked questions and solutions

23.1 Issue 1: Failure of path planning

rationale: Path planning failures can be caused by a variety of factors including, but not limited to, improper definition of obstacles, distances between path points that are too close or too far, and physical limitations of the robot.

prescription：

Check the definition of obstacles: Ensure that all obstacles are correctly defined and that there are no omissions or errors.
Adjusting Path Points: Increase or decrease the number of path points as appropriate to ensure that the distance between them is reasonable.
Consider robot limitations: Check if the robot can physically reach the specified path point and adjust the path planning algorithm to fit the robot's range of motion.

23.2 Issue 2: Inaccurate collision detection

rationale: Inaccuracies in collision detection can stem from model accuracy issues, errors in sensor data, or algorithmic limitations.

prescription：

Improve model accuracy: Use more accurate 3D models and material properties to improve collision detection accuracy.
Optimized sensor data processing: Ensure calibration and pre-processing of sensor data to reduce data errors.
revised algorithm: More advanced collision detection algorithms, such as physics-based simulations or deep learning methods, are used to improve detection accuracy.

23.3 Issue 3: Incompatibility of secondary development modules with software versions

rationale: Updates to the Pro software may introduce API or functionality changes that prevent the secondary development module from functioning properly.

prescription：

Regular inspection updates: Follow Pro's changelog for API changes.
version control: Use version control tools, such as Git, during development to manage code and adapt to changes in software versions.
Testing and validation: Retest secondary development modules after software updates to ensure functionality and compatibility.

By following the above steps and case studies, as well as solving common problems, you can effectively perform secondary development of Pro software to improve productivity and safety.