SANDY CURTH
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Control // Pathplanning
We are mounting the extrusion system on a KUKA K6
which we will control through KUKA PRC and Rhino/ Grasshopper.
Kuka PRC is a relatively straightforward way to control a robot arm through grasshopper in both an open and closed loop configuration. Were taking this route to maximize toolpathing flexibility when we print tests with the combines FGM system.
04 / 22 / 21
-We have iterated through multiple auger designs for proper integration with the arm and the ATC toolchanger.
-Calibrated the arm
-Run a test file confirming our control system in Kuka PRC is functional.
04 / 28 / 21
The current control setup consists of two Arduino uno's with drivers appropriately speced for the Nema 23 on the extruder and the Nema 17 on the auger. We have moved from manual speed control to a Processing interface.
Digital control is helping us calibrate the auger speed to the extruder speed. Here we are still inhibited by the inconsistency of extruder performance.