Instructions for a KUKA robotic manipulator pen plotter as part of the discipline PMR3502-2023.
- Make a csv file containing the function name on the first line and the lines and circular arcs as following:
- "l,spx,spy,epx,epy" if a line;
- "c,spx,spy,mpx,mpy,epx,epy,ang" if a circular arc;
- ang is the angle of the circular arc
- spx,spy are the global coordinates of the starting point, mpx,mpy of the middle point and epx,epy of the end point;
- Also indicate whether the last line/circle needs to start in a point other than the last dranw, with an "1" at the 8th position of the line.
- Open the file kuka.py and substitute the "path" variable to the path where the csv file is located. The script should print the KUKA function once run.
- Paste the printed function on the src file and call it when necessary specifying (i) the starting point P, (ii) the scale S and (iii) the frame MESA, as following:
PLTURSO(P,S,MESA)
