KUKA Navigation Solution 1.6

Transcription

1 System Software KUKA Roboter GmbH KUKA Navigation Solution 1.6 Operating and Programming Instructions KUKA Navigation Solution 1.6 Issued: Version: KUKA Navigation Solution 1.6 V1

2 Copyright 2016 KUKA Roboter GmbH Zugspitzstraße 140 D Augsburg Germany This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Roboter GmbH. Other functions not described in this documentation may be operable in the controller. The user has no claims to these functions, however, in the case of a replacement or service work. We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in the subsequent edition. Subject to technical alterations without an effect on the function. Translation of the original documentation KIM-PS5-DOC Publication: Pub KUKA Navigation Solution 1.6 (PDF) en Book structure: KUKA Navigation Solution 1.6 V1.1 Version: KUKA Navigation Solution 1.6 V1 2 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

3 Contents Contents 1 Introduction Target group Representation of warnings and notes Licenses Trademarks Terms used Product description Overview of KUKA Navigation Solution Intended use Installation System requirements Installing Navigation Solution Uninstalling KUKA Sunrise.Workbench Operation Starting Navigation Solution General overview of user interface Activating a perspective or view Repositioning the views Workspace Creating a new workspace Switching to an existing workspace Switching between the most recently opened workspaces Archiving projects Loading projects from archive to the workspace Loading projects from the directory to the workspace Renaming an element in the Package Explorer Renaming a project or Java package Renaming a Java file Removing an element from Package Explorer Deleting an element from a project Removing a project from Package Explorer Deleting a project from the workspace Project creation Project creation and first steps thereafter overview Creating a project Configuring a project Editing the Topology tab Editing the Software tab Editing the Configuration tab Editing the Installation tab Installing Navigation Solution Recording a map Actions in the KUKA Map Perspective Issued: Version: KUKA Navigation Solution 1.6 V1 3 / 73

4 6.1 Overview of Mobile Robot MapView Panning, zooming and rotating the map Overview of KUKA MapView Maintenance Activating the connection to the navigation server Changing the user role Loading a map onto the navigation server Displaying a map Locking a platform Assigning a different map to a platform Initializing the position of the platform Initializing the position by means of pose Initializing the position by means of location Checking whether the position is correctly initialized/displaying the laser Creating a location Creating a location numerically Teaching a location Deleting a location Moving the platform Moving the platform to a pose Moving the platform to a location Job parameters Edit graph Creating a graph Deleting graphs, nodes or edges Linking a node to a location Defining node properties Defining edge properties Dependencies between node and edge properties Programming Symbols and fonts Creating an application Required resources Overview of motion types and syntax Relative motion Motion along a virtual line With global orientation With permissible orientations relative to the line Return to the virtual line (Recovery) Autonomous motion Modifying the motion parameters Changing maximum velocities and accelerations Defining the maximum duration Defining the maximum deviation from the target Modifying the motion parameters Example Methods for polling the motion parameters Polling the state of program execution Communication Framework Encoding, decoding and transmitting messages / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

5 Contents Sending messages Receiving messages Server Fleet management GraphMotions Runtime information GraphMotionContainer CoordinatedGraphMotionsContainer Commanding methods KUKA Service Requesting support KUKA Customer Support Index Issued: Version: KUKA Navigation Solution 1.6 V1 5 / 73

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7 1 Introduction 1 Introduction 1.1 Target group This documentation is aimed at users with the following knowledge and skills: Basic knowledge of the mobile platform (hardware) Advanced Java programming skills 1.2 Representation of warnings and notes Safety These warnings are relevant to safety and must be observed. are taken. These warnings mean that it is certain or highly probable that death or severe injuries will occur, if no precautions These warnings mean that death or severe injuries may occur, if no precautions are taken. These warnings mean that minor injuries may occur, if no precautions are taken. These warnings mean that damage to property may occur, if no precautions are taken. These warnings contain references to safety-relevant information or general safety measures. These warnings do not refer to individual hazards or individual precautionary measures. This warning draws attention to procedures which serve to prevent or remedy emergencies or malfunctions: Procedures marked with this warning must be followed exactly. Notices These notices serve to make your work easier or contain references to further information. Tip to make your work easier or reference to further information. 1.3 Licenses KUKA Navigation Solution uses open-source software. The licensing terms can be found in the following file on the data storage medium with the installation files: Navigation_Solution_External_Licenses.pdf 1.4 Trademarks Java is a trademark of Sun Microsystems (Oracle Corporation). Windows is a trademark of Microsoft Corporation. Issued: Version: KUKA Navigation Solution 1.6 V1 7 / 73

8 1.5 Terms used Term Javadoc KMP KMR Location Mobile platform Platform Pose Javadoc is a documentation generated from specific Java comments. KUKA Mobile Platform Designation for mobile platforms from KUKA KUKA Mobile Robotics Designation for a mobile industrial robot system, consisting of a mobile platform and a robot mounted on the platform. A pose that has been saved with a name. In addition to the pose, the location can also contain laser measurement data. Floor-borne means of conveyance with its own motion drive that is controlled automatically and guided by means of non-contact guidance. The general term platform is used as a synonym for mobile platform in this documentation. A position on a map that is defined by an orientation angle in addition to its X and Y values. 8 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

9 2 Product description 2 Product description 2.1 Overview of KUKA Navigation Solution Overview The KUKA Navigation Solution software is used for autonomous navigation, control, management and monitoring of mobile platforms. Central functions of KUKA Navigation Solution: Offline creation and configuration of navigation projects Project transfer to the control computer of the navigation system Online detail configuration of navigation projects Online control of mobile platforms via the navigation server Programming of applications Computers in the navigation system: Work computer The KUKA Navigation Solution software is installed on this computer. Control computer The KUKA Navigation Solution software installs the navigation server with the navigation project on this computer. The control computer communicates with all mobile platforms of the project via WLAN. KUKA NavBox This computer is integrated into the mobile platform. It serves as an interface between the control computer and the mobile platform. If a project only contains a single mobile platform, no separate control computer is required. The navigation server can be installed directly on the KUKA NavBox. Vehicle fleet application Vehicle fleet refers to multiple platforms controlled by a single navigation server. The platforms may be of different types. Fig. 2-1: Vehicle fleet Issued: Version: KUKA Navigation Solution 1.6 V1 9 / 73

10 1 Work computer 2 Network connection (cable or WLAN) 3 Control computer 4 Network connections (WLAN) 5 Platform of type A 6 Platform of type B Standalone platform application If a project only contains a single mobile platform, no separate control computer is required. The navigation server can be installed directly on the KUKA NavBox. Fig. 2-2: Standalone platform 1 Work computer 2 Platform 3 Network connection (WLAN) 2.2 Intended use Use Misuse The KUKA Navigation Solution software is designed exclusively for operating a mobile platform approved by KUKA Roboter GmbH in conjunction with the KUKA NavBox. Each version of the KUKA Navigation Solution software may be operated exclusively in accordance with the specified system requirements. Any use or application deviating from the intended use is deemed to be misuse and is not allowed. The manufacturer cannot be held liable for any damage resulting from such use. The risk lies entirely with the user. 10 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

11 3 Installation 3 Installation 3.1 System requirements The prerequisites apply to both the work computer and the control computer. Hardware Minimum requirements PC with Pentium IV processor, min MHz 1 GB RAM 1 GB free hard disk space DirectX8-compatible graphics card with a resolution of 1024x768 pixels Recommended specifications PC with Pentium IV processor 2500 MHz 2 GB RAM DirectX8-compatible graphics card with a resolution of 1280x1024 pixels Software Windows Installing Navigation Solution Preparation The KUKA Navigation Solution software is based on KUKA Sunrise.Workbench. That is why the file SunriseWorkbench.EXE plays a role during installation and why the name SunriseWorkbench is subsequently displayed in places when the software is started and on the user interface, etc. The ZIP files specified below are required for installation. Some must be unzipped and some must remain in ZIP format. This file contains the basic software and must be unzipped: [Article number] KUKA.NavigationSolution Basic [Package name] [Version].ZIP. The files with the following name structure must be left in ZIP format. There are multiple files present, not just two. [Article number] KUKA.NavigationSolution [Option name] [Version].ZIP [Article number] KUKA.NavigationSolution KMP [Package name] [Version].ZIP Procedure 1. Double-click on the file SunriseWorkbench.EXE. It is located among the unzipped files of the basic software. Sunrise.Workbench starts and the Workspace Launcher window is opened. 2. In the Workspace box, specify the directory in which projects are to be saved. This can be an existing directory or a new one. A directory is suggested in the window. It can be changed by clicking on the Browse button. If the workspace should not be queried the next time Sunrise.Workbench is started, activate the option Use this as the default value[ ] (set check mark). Confirm the settings with OK. Sunrise.Workbench opens. 3. Only if a new workspace has been created in the previous step: A welcome screen opens. Select the option Workspace. 4. Select the menu sequence Help > Install new software... The Install window is opened. Issued: Version: KUKA Navigation Solution 1.6 V1 11 / 73

12 5. Individually drag the zipped (!) ZIP files specified under Preparation into the white area under Name in the Install window. The files must be dragged to the area individually. It is not possible to drag multiple files simultaneously. The order is not relevant. The files and the features contained in them are not all displayed in the area immediately. Alternative: As an alternative to Drag&Drop, it is also possible to navigate to the files and load them individually into the area. Once again, the features are not all displayed in the area immediately. To the right of the Work with box, click on Add. The Add repository window is opened. Click on Archive and navigate to the files. Select a file and confirm with Open. The Position box now displays the path to the file. Confirm with OK. In the Install window, the Work with box now displays the path to the file. Repeat the steps until all files have been loaded. 6. In the Work with box, select the --All available sites-- option. All features are now displayed. 7. Activate the KUKA Extensions and KUKA Navigation check boxes. All features are now selected. Fig. 3-1: Install window 8. Leave the other settings in the Install window as they are and click on Next >. 9. The Installation details overview is displayed. Leave the settings as they are and click on Next >. 12 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

13 3 Installation 10. A license agreement is displayed. In order to be able to install the features, the agreement must be accepted. Then click on Finish. The installation operation begins. 11. A safety warning concerning unsigned contents is displayed. Confirm with OK. 12. A message indicates that Sunrise.Workbench must be restarted in order to apply the changes. Click on Restart now. 13. Sunrise.Workbench restarts. The installation process is now complete. 3.3 Uninstalling KUKA Sunrise.Workbench It is advisable to archive all relevant data before uninstalling a software package. Procedure Delete the folder containing the unzipped file [Article number] KUKA.NavigationSolution Basic [Package name] [Version].ZIP. Issued: Version: KUKA Navigation Solution 1.6 V1 13 / 73

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15 4 Operation 4 Operation 4.1 Starting Navigation Solution Procedure 1. Double-click on the file SunriseWorkbench.EXE. It is located among the unzipped files of the basic software. Sunrise.Workbench starts and the Workspace Launcher window is opened. 2. In the Workspace box, specify the directory in which projects are to be saved. This can be an existing directory or a new one. A directory is suggested in the window. It can be changed by clicking on the Browse button. If the workspace should not be queried the next time Sunrise.Workbench is started, activate the option Use this as the default value[ ] (set check mark). Confirm the settings with OK. Sunrise.Workbench opens. 3. A welcome screen opens. There are different options here. Click on Workbench to open the user interface of Navigation Workbench. (>>> 4.2 "General overview of user interface" Page 15) Click on the New Project button to create a new project directly. The project creation wizard opens. (>>> 5.2 "Creating a project" Page 21) 4.2 General overview of user interface The user interface of KUKA Navigation Solution consists of several views. The combination of several views is called a perspective. Navigation Solution offers various preconfigured perspectives. Perspectives can be activated and deactivated. The default perspective is Programming. Another important perspective is the KUKA Map Perspective. Issued: Version: KUKA Navigation Solution 1.6 V1 15 / 73

16 Fig. 4-1: User interface with Programming perspective Item 1 Menu bar 2 Toolbars 3 Editor area Opened files are displayed here. 4 Perspective selection (>>> 4.3 "Activating a perspective or view" Page 16) 5 Package Explorer view This view contains the projects created and their corresponding files. 6 Tasks, Console and Javadoc views Tasks: Displays tasks which a user has created Console: Information output during the runtime of an application Javadoc: Displays Javadoc information about the selected elements of a Java application 7 Properties view If an object is selected in a view, its properties are displayed here. 4.3 Activating a perspective or view Procedure The user interface can be displayed in different perspectives. The default perspective is Programming. Perspectives can be adapted to the requirements of the user, e.g. by activating/deactivating views or menus. It is possible to save the adapted perspective as a default setting for the perspective or under a separate name of its own. Activating a perspective for the first time: 16 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

17 4 Operation Select the menu sequence Window > Open perspective > Other... and select the desired perspective. The perspective is opened. Furthermore, the corresponding button is activated in the perspective selection. Activating a perspective that has already been used: In the perspective selection, click on the button for this perspective. To display views in the current perspective: Select the menu sequence Window > Show View and the desired view. Further views can be selected by clicking the menu item Other. To save user-defined perspectives: 1. Select the menu sequence Window > Save Perspective As In the Name box, enter a name for the perspective and confirm it with OK. If an existing perspective is selected and overwritten, the perspective will be opened with these settings in the future. To reset the current perspective to the default setting: Select the menu sequence Window > Reset Perspective and answer the request for confirmation with Yes. 4.4 Repositioning the views Procedure 1. Grip the view by the title bar while holding down the left mouse button and move it to the desired position on the user interface. The possible positions for the view are indicated here by a gray frame. 2. Release the mouse button when the desired position for the view is selected. 4.5 Workspace The directory in which the created projects and user-defined settings for Sunrise.Workbench are saved is called the workspace. The directory for the workspace must be defined by the user when Sunrise.Workbench is started for the first time. It is possible to create additional workspaces in Sunrise.Workbench and to switch between them Creating a new workspace Procedure 1. Select the menu sequence File > Switch Workspace > Other... The Workspace Launcher window opens. 2. In the Workspace box, manually enter the path to the new project directory. Alternative: Click on Browse... to navigate to the directory where the new workspace should be created. Create the new project directory by clicking on Create new folder. Click on OK to confirm. The path to the new project directory is inserted in the Workspace box. 3. Click on OK to confirm the new workspace. Sunrise.Workbench restarts and the welcome screen opens. Issued: Version: KUKA Navigation Solution 1.6 V1 17 / 73

18 4.5.2 Switching to an existing workspace Precondition Other workspaces are available. Procedure 1. Select the menu sequence File > Switch Workspace > Other... The Workspace Launcher window opens. 2. Navigate to the desired workspace using Browse and select it. 3. Confirm with OK. The path to the new project directory is applied in the Workspace Launcher window. 4. Confirm the selected workspace with OK. Sunrise.Workbench restarts and opens the selected workspace Switching between the most recently opened workspaces Precondition Other workspaces are available. Procedure 1. Select the menu sequence File > Switch Workspace. The most recently used workspaces are displayed in a list (max. 4). 2. Select the desired workspace from the list. Sunrise.Workbench restarts and opens the selected workspace Archiving projects Procedure 1. Select the menu sequence File > Export... The file export wizard opens. 2. In the General folder, select the Archive File option and click on Next >. 3. All the projects in the workspace are displayed in a list in the top left-hand area of the screen. Select the projects to be archived (set check mark). 4. Click on Browse to navigate to the desired file location, enter the file name for the archive and click on Save. 5. Click on Finish. The archive file is created Loading projects from archive to the workspace Precondition An archive file (e.g. a ZIP file) with the projects to be loaded is available. The workspace does not contain any project with the name of the project to be loaded. Procedure 1. Select the menu sequence File > Import. The file import wizard opens. 2. In the General folder, select the Existing Projects into Workspace option and click on Next >. 3. Activate the Select archive file radio button, click on Browse to navigate to the desired archive file and select it. 4. Click on Open. All the projects in the archive are displayed in a list under Projects. 5. Select projects to be loaded to the workspace (check mark must be set). 6. Click on Finish. The selected projects are loaded Loading projects from the directory to the workspace Precondition One or more projects are available in any directory. The workspace does not contain any project with the name of the project to be loaded. Procedure 1. Select the menu sequence File > Import. The file import wizard opens. 18 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

19 4 Operation 2. In the General folder, select the Existing Projects into Workspace option and click on Next >. 3. Activate the Select root directory radio button, click on Browse to navigate to the desired directory and select it. 4. Click on OK. All the projects in the selected directory are displayed in a list under Projects. 5. Select projects to be loaded to the workspace (check mark must be set). 6. Click on Finish. The selected projects are loaded. 4.6 Renaming an element in the Package Explorer In the Package Explorer view, the names of inserted elements can be changed, e.g. the names of projects, Java packages and Java files Renaming a project or Java package Procedure 1. Right-click on the desired project or Java package. Select Refactoring > Rename in the context menu. The Rename Java Project or Rename Java Package window opens. 2. In the New name box, enter the desired name. Confirm with OK Renaming a Java file Procedure 1. Right-click on the desired Java file. Select Refactoring > Rename in the context menu. The Rename Compilation Unit window opens. 2. In the New name box, enter the desired name. Click on Finish. 3. Possible conflicts are indicated before the renaming is completed. After acknowledging and checking these, click on Finish once more. 4.7 Removing an element from Package Explorer In the Package Explorer view, inserted elements can be removed again, e.g. entire projects or individual Java packages and Java files of a project Deleting an element from a project Elements created for a project can be deleted again. The elements are permanently deleted from the workspace and cannot be restored. It is also possible to remove some but not all of the default elements of a project. Procedure 1. Right-click on the element. Select Delete in the context menu. 2. Answer the request for confirmation with OK. The element is deleted Removing a project from Package Explorer With this procedure, a project is only removed from the Package Explorer and is retained in the directory for the workspace on the data storage medium. If required, the project can be reloaded from the directory into the workspace. The project is then available again in the Package Explorer. (>>> "Loading projects from the directory to the workspace" Page 18) Issued: Version: KUKA Navigation Solution 1.6 V1 19 / 73

20 Procedure 1. Right-click on the desired project. Select Delete in the context menu. A request for confirmation is displayed, asking if the project is really to be deleted. 2. The check box next to Delete project content on disk (cannot be undone) is activated by default. Leave it like this. 3. Confirm the request for confirmation with OK Deleting a project from the workspace With this procedure, a project is removed from the Package Explorer and permanently deleted from the directory for the workspace on the data storage medium. The project cannot be restored. Procedure 1. Right-click on the desired project. Select Delete in the context menu. A request for confirmation is displayed, asking if the project is really to be deleted. 2. Activate the check box next to Delete project content on disk (cannot be undone). 3. Confirm the request for confirmation with OK. 20 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

21 5 Project creation 5 Project creation 5.1 Project creation and first steps thereafter overview Step 1 Create a project. (>>> 5.2 "Creating a project" Page 21) 2 Configure the project. (>>> 5.3 "Configuring a project" Page 22) 3 Install Navigation Solution. (>>> 5.4 "Installing Navigation Solution" Page 25) 4 Record map(s). (>>> 5.5 "Recording a map" Page 26) Note: This step is not carried out by the KUKA Navigation Solution software. 5 Load the maps onto the navigation server. (>>> 6.5 "Loading a map onto the navigation server" Page 30) 6 For each platform: assign a map to the platform. (>>> 6.8 "Assigning a different map to a platform" Page 31) 7 For each platform: initialize position. (>>> 6.9 "Initializing the position of the platform" Page 32) 5.2 Creating a project Procedure 1. Select the menu sequence File > New > Sunrise project. The project creation wizard opens. 2. In the IP address of controller: box, enter the IP address of the computer on which the navigation server is to be installed. It is possible to change the address again during subsequent project configuration. 3. Retain the Create new project (offline) setting. Press Next > to switch to the next page. 4. Enter a name for the project in the Project name box. 5. The default directory for projects is given in the Location box. A different directory can be selected if desired: to do so, remove the check mark at Use default location and select Browse. Press Next > to switch to the next page. 6. Select a template from the Topology template list. The template determines which elements are subsequently preselected on the Topology tab. (Irrespective of the template that is selected here, all elements are always available in Topology and the preselection can be modified as required.) NavBox_with_NavServer: Suitable if a standalone platform is to be operated. NavServer: Suitable if a vehicle fleet is to be operated. NavBox: Suitable if a standalone platform without navigation server is to be operated. Press Next > to switch to the next page. Issued: Version: KUKA Navigation Solution 1.6 V1 21 / 73

22 7. A summary of information on the project is displayed. Remove the check mark at Create application (starts other wizard) and click on Finish. The project is created and added to the Package Explorer. 5.3 Configuring a project Procedure 1. In Package Explorer, open the node of the project that is to be configured. 2. Double-click on the file StationSetup.cat. The file is opened in the editor. 3. Edit the Topology tab. (>>> "Editing the Topology tab" Page 22) 4. Edit the Software tab. (>>> "Editing the Software tab" Page 24) 5. Edit the Configuration tab. (>>> "Editing the Configuration tab" Page 24) Editing the Topology tab Procedure Topology type 1 The real topology must be reproduced under Used elements on the Topology tab. The Used elements area already contains at least 1 element. Which element depends on which topology template was selected during project creation. Irrespective of the template that was selected, all elements are always available under Available elements and the preselection can be modified as required. The contents of Available elements may vary from one software version to another and may differ from those illustrated here. Inserting an element in Used elements: 1. In Used elements, select the level beneath which the new element is to be inserted. 2. In Available elements, double-click on the element that is to be inserted. (Alternatively: Select the element to be inserted and click on the RIGHT ARROW button.) Changing the name of a platform if necessary: Double-click on the name, change the name and confirm with the Enter key. Deleting an element from Used elements: Select the element and click on the LEFT ARROW button. For the standalone platform application The platform must as illustrated be on the same level as the element NavBox_Server_Extension. It must not be at a subordinate level, i.e. it must not be further indented in the structure. 22 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

23 5 Project creation Fig. 5-1: Example: Topology for standalone platform Topology type 2 For the vehicle fleet application Every platform type used in reality must be inserted into the topology. It makes no difference how many platforms of this type are actually used. The same type can be inserted into the topology multiple times. This may be necessary, for example, if there are multiple platforms of the same type present, but they have to be configured differently. Fig. 5-2: Example: Topology for vehicle fleet Topology with KMP/KMR KMPs and KMRs can also be used individually or formed into fleets. Special templates are available for topologies with KMPs/KMRs: Nav KMP omnimove 400 Single Robot Nav KMP omnimove 400 Fleet Robot Nav KMR iiwa 14 R820 Single Robot Nav KMR iiwa 14 R820 Fleet Robot Issued: Version: KUKA Navigation Solution 1.6 V1 23 / 73

24 Templates Single Robot Fleet Robot The templates are intended for a single KMP or KMR. The fleet manager is installed locally on the KMP or KMR. Within an application, navigation commands for the mobile platform, commands for the industrial robot and commands for the fleet manager can be used. Templates are intended for multiple KMPs or KMRs. The fleet manager is installed on the corresponding navigation server. Within an application, it is not possible to use commands for the industrial robot and commands for the fleet manager. Other topologies Other topology types are possible for special cases Editing the Software tab Procedure Software for KMP/KMR The Software tab displays the software elements that can be installed for the hardware elements selected on the Topology tab. Leave the parameters that are not specified here unchanged. 1. If a platform is to be used for recording maps, activate the check box of the corresponding type for the following modules: KUKALogWriter KUKAMapperGui 2. If necessary, the names of the platforms can also be modified here. See also the Topology tab. Special software elements are available for KMP/KMR. As a rule, no modifications are required. Depending on the topology template, the corresponding software is already selected. Element Nav Support Single Robot Nav Support Multi Robot The element is intended for a single KMP or KMR. The element is intended for multiple KMPs or KMRs. The elements Nav Support Single Robot and Nav Support Multi Robot must not both be selected. The catalog element FleetManager must not be used. Deselect the catalog element (deactivate check box) and save the station configuration Editing the Configuration tab Procedure The Configuration tab displays the configuration parameters of the software elements. Leave the parameters that are not specified here unchanged. 1. Depending on the topology, the uppermost element in the structure may be NavBox or NavServer. 24 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

25 5 Project creation Edit the following parameters for the uppermost element: Parameter IP User name Password The IP address entered during project creation is displayed here. If required: Change the address. Windows user name and password of the computer on which the software is installed. 2. For the platform types, edit the following parameters if required: Parameter MapId ID of the map to which this platform type is assigned. Default value: 1 (= default map) The assignment applies to the type. It can subsequently be modified in Mobile Robot MapView for the individual platforms belonging to this type. Note: If the assignment is changed in Mobile Robot MapView, this does not affect the value entered here under MapId Editing the Installation tab The Installation tab is used for installation of the navigation server or KUKA NavBox. (>>> 5.4 "Installing Navigation Solution" Page 25) 5.4 Installing Navigation Solution Precondition The project has been configured. Network connection to the computer on which the navigation server is to be installed Installation tab Procedure 1. Click on the Install button. The Installation window is opened. The Configured IP box has a colored background. GREEN: The network connection has been established. Installation is possible. The OK button is available. RED: The network connection could not be established. A possible cause could be that the network cable is not connected correctly or that the configured IP address does not match the actual address. The window displays brief text information about the problem. The OK button is grayed out. 2. Only if the Configured IP box is green: Click on OK. The installation starts. A progress bar is displayed. 3. Installation is completed if the following conditions are met: No information to the contrary is displayed under Installation events. The progress bar has been hidden again. Issued: Version: KUKA Navigation Solution 1.6 V1 25 / 73

26 5.5 Recording a map The recording of maps is not carried out by the KUKA Navigation Solution software. Using laser scanners, the platform is able to record a map of the room in which it is to move. For this purpose, the platform must be steered manually through the room so that the scanners can record the entire room, including all walls and obstacles. A platform can only record maps if the required software modules have been selected on the Software tab. (>>> "Editing the Software tab" Page 24) Once the platform has recorded the map, it must be loaded into KUKA Navigation Solution. (>>> 6.5 "Loading a map onto the navigation server" Page 30) Information about the platform can be found in the manufacturer s documentation. For information about other components that may be used for recording maps, refer to the documentation from the corresponding manufacturer. The documentation must be observed. This applies in particular to safety information. 26 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

27 6 Actions in the KUKA Map Perspective 6 Actions in the KUKA Map Perspective 6.1 Overview of Mobile Robot MapView By default, the view Mobile Robot MapView is part of the KUKA Map Perspective. Overview Fig. 6-1: Mobile Robot MapView with Connection page Item 1 Map view (still without map in the illustration) 2 Connection icon This icon is always visible, even if a page other than the Connection page is displayed. 3 Icon bar Different pages can be called via the icons. The names of the icons/pages can be displayed using the mouseover function. 4 Connection page 5 Create new Connection icon 6 Connection overview Pages Page Connection Locations Activation of the connection to the navigation server, change of user role, selection of the map to be displayed Creation and management of locations Issued: Version: KUKA Navigation Solution 1.6 V1 27 / 73

28 Page Robots Jobs Maps Topology Graph Virtual Path Display configuration List of the platforms The platforms can be filtered using numerous criteria and displayed or hidden on the maps. List of all jobs, e.g. motion actions Loading of maps, creation of map zones List of maps and map zones A map zone is an area on the map into which the platform may not move. Creation of graphs Creation of virtual paths Virtual paths are complex motion paths for the platform. Hiding/displaying of certain levels or elements of the map, e.g. locations, map zones or the map itself To hide a level/element, click on the eye icon. To display the level/element again, click in the empty box where the eye icon was Panning, zooming and rotating the map Procedure Panning: 1. Click into the map and hold down the mouse button. 2. Drag with the mouse. The map moves with the mouse. Zooming 1. Click into the map. 2. Hold down the CTRL key and scroll with the mouse wheel. Scroll up: Zoom gets larger. Scroll down: Zoom gets smaller. Rotating: Right-click into the map and select the direction of rotation. 6.2 Overview of KUKA MapView Maintenance The KUKA MapView Maintenance view is part of the KUKA Map Perspective. It is not displayed by default and must be activated. 28 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

29 6 Actions in the KUKA Map Perspective Overview Fig. 6-2: KUKA MapView Maintenance with the KUKA Maintenance page Item 1 KUKA Maintenance icon This icon is always visible, even if a page other than the KUKA Maintenance page is displayed. 2 Icon bar Different pages can be called via the icons. The names of the icons/pages can be displayed using the mouseover function. (>>> "Pages" Page 29) 3 KUKA Maintenance page 4 Create new Connection icon 5 Connection overview Pages Page KUKA Maintenance Parameter editor Activation of the connection to the navigation server, change of user role Parameters can be adapted here for each active platform instance. The parameters that are available depend on the platform type and customer-specific circumstances. 6.3 Activating the connection to the navigation server Precondition Mobile Robot MapView view, Connection page or: KUKA MapView Maintenance view, KUKA Maintenance page Network connection to the navigation server The connection is only active for the view in which it was activated. Procedure 1. Click on the Create new Connection icon. Issued: Version: KUKA Navigation Solution 1.6 V1 29 / 73

30 An entry is displayed in the connection overview. It consists of an IP address and a port number. 2. Check whether the IP address is that of the desired navigation server. If not (e.g. if multiple navigation servers are available): Select the entry in the connection overview and then adapt the IP address in the Properties view. 3. Right-click on the entry in the connection overview and select Connect from the context menu. If the connection is active, the text of the entry changes from black to green. 4. If multiple navigation servers are present, they can also be displayed in the connection overview. To do so, repeat steps 2 and 3. Only one connection may be active at any one time, however. 6.4 Changing the user role The following user roles exist: Role Privileges With/without password Observer Low No password Operator Medium Password Expert High Password Passwords are issued to customers by KUKA Roboter GmbH. The passwords cannot currently be changed in the KUKA Navigation Solution software. Precondition Mobile Robot MapView view, Connection page or: KUKA MapView Maintenance view, KUKA Maintenance page The user role is only applicable in the view in which it was selected. Procedure 1. Select the desired role in the User role box. 2. If a role with greater privileges is selected, the Password box is displayed. Enter the password. 3. Click on the Change role button. The new role is now displayed beneath Change role. If a button or context menu is grayed out in the Mobile Robot MapView view, the functions are disabled. In this case, a user role with greater privileges must be selected. 6.5 Loading a map onto the navigation server Only maps located on the navigation server can be displayed or assigned to a platform type. Precondition Mobile Robot MapView view The map is available as an OMAP/OMAP2 file. The connection to the navigation server is active. Procedure 1. Click on the Maps icon. The Maps page is displayed. 2. Click on Add Map. The Add Map window is opened. 30 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

31 6 Actions in the KUKA Map Perspective 3. Click on Browse and navigate to the directory where the OMAP file is located. 4. Select the file and confirm with Open. The path to the file is now displayed in the Add Map window. 5. Enter a name for the map and confirm it with OK. The name can be the same as that of the OMAP file or different. The map is now displayed in the Maps list. 6.6 Displaying a map Precondition Mobile Robot MapView view The connection to the navigation server is active. Procedure 1. Click on the Connection icon. The Connection page is displayed. 2. In the Map area, select the desired map from the selection box and confirm with Load map. Alternative These procedures are possible if a map is already displayed. 1. Right-click on the map (not on the platform) and select Switch to map from the context menu. A window opens. 2. Select the desired map and confirm with OK. Or: 1. Click on the Maps icon. The Maps page is displayed. 2. In the list, right-click on the desired map and select Switch to this map. 6.7 Locking a platform Precondition Mobile Robot MapView view The connection to the navigation server is active. The map assigned to the platform is displayed. Procedure 1. Right-click on the platform on the map and select Lock robot. In Console view, a message indicates that the platform is locked. 2. To unlock, right-click on the platform and select Unlock robot. In Console view, a message indicates that the platform is unlocked. 6.8 Assigning a different map to a platform Precondition Mobile Robot MapView view The connection to the navigation server is active. The platform is locked. Procedure If the currently displayed map is assigned to the platform: 1. Right-click on the platform on the map and select Change map from the context menu. A window opens. 2. Select the desired map and confirm with OK. Always possible: 1. Click on the Robot icon. The Robot page is displayed. One of the lists on this page contains the platform. 2. Right-click on the platform in the list and select Change map from the context menu. A window opens. 3. Select the desired map and confirm with OK. Issued: Version: KUKA Navigation Solution 1.6 V1 31 / 73

32 6.9 Initializing the position of the platform The platform position must be initialized in the following cases: If a map has been newly assigned to a platform. If the real platform has been moved without the navigation server being involved. This is the case, for example, if it was moved using a manual controller while the navigation server was offline. During initialization, the position of the platform on the map is adapted to its real position in space Initializing the position by means of pose Precondition Mobile Robot MapView view The connection to the navigation server is active. The platform is locked. Procedure 1. Right-click on the platform and select Localizer > Place robot using pose from the context menu. The mouse pointer changes into cross hairs. 2. Position the cross hairs at the point on the map that approximately corresponds to the real position of the platform and click on this position. The platform is now displayed at this point. Moving the mouse pointer changes the orientation. 3. Click again. A window opens, indicating the current X and Y values and the orientation in degrees. 4. The values can now be specified more precisely. If required, enter the necessary values. 5. Confirm values with OK Initializing the position by means of location Precondition Mobile Robot MapView view The connection to the navigation server is active. The platform is locked. There is a location available that approximately corresponds to the real position of the platform in space. Procedure 1. Right-click on the platform on the map and select Localizer > Place robot using location from the context menu. 2. Click on the desired location on the map. 3. Click on the location again. The Shift to location window is opened. 4. Confirm with OK. The platform is now displayed at the location on the map Checking whether the position is correctly initialized/displaying the laser The laser beam display can be used to check whether the position has been correctly initialized. Precondition Mobile Robot MapView view Procedure 1. Right-click on the platform and select Display laser data from the context menu. If the laser beams end exactly at the space limits and obstacles, the position is correctly initialized. 32 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

33 6 Actions in the KUKA Map Perspective If the laser beams stop short of, or pass through, the space limits and obstacles, the position is not correctly initialized. 2. To hide the laser again, right-click on the platform and select Hide laser data. Example This example is a simplified representation of how the laser beams show whether or not the position is correctly initialized. Real maps map much more complex environments. It is also possible that the difference between the incorrect position and the correct position is only minimal. The discrepancies are thus generally less clear on real maps than in the example. Fig. 6-3: Left: incorrect right: correct 6.10 Creating a location A location is a pose that has been saved with a name. It is defined by an X and a Y value and an orientation angle. It can also contain laser measurement data. Fig. 6-4: Map section with 2 locations Issued: Version: KUKA Navigation Solution 1.6 V1 33 / 73

34 Creating a location numerically Numeric locations are defined by an X and a Y value and the orientation angle of the platform in degrees. Precondition Mobile Robot MapView view The connection to the navigation server is active. The desired map is displayed. Procedure 1. Click on the Locations icon. The Locations page is displayed. 2. Click on Create location. The mouse pointer changes into cross hairs. 3. Position the cross hairs at the desired point on the map and click on the point. Moving the mouse pointer changes the orientation for this location. 4. Click again. A window opens, indicating the current X and Y values of the location and the orientation in degrees. 5. Enter a name for the location. Each name may only appear once on a map. 6. The location can now be defined more accurately. If required, enter the necessary values. 7. Confirm the entries with OK. The location is now displayed in the Locations list Teaching a location Taught locations are defined by an X and a Y value and the orientation angle of the platform in degrees. They are also defined by measurement data obtained by means of a laser scan. Precondition Mobile Robot MapView view The connection to the navigation server is active. The platform is at the pose that is to be taught as a location. Procedure 1. Click on the Locations icon. The Locations page is displayed. 2. Click on Teach location. 3. Click on the platform. A window opens. 4. Enter the number of laser scans to be performed by the platform. Minimum value: Enter a name for the location. Each name may only appear once on a map. 6. Confirm the entries with OK. 7. Confirm the entries with OK. The location is now displayed in the Locations list. Parameter Parameter Laser enabled Laser scan count Reference laser scan count Selection of laser Check box active: the data of the selected laser are used for the fine localization. Check box not active: the data of the non-selected laser are disregarded. Number of laser scans to be used for fine localization. Number of laser scans to be performed while the location is being taught. 34 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

35 6 Actions in the KUKA Map Perspective Parameter Avg dist around median # min measures in avg distance around median Average distance from center point. The value is used for denoising the individual laser beams. Collects measurements for each individual beam. Determines the center point for each beam. Only accepts beams whose distance from the center point is no greater than the maximum parameterized distance. Minimum number of measurements used to calculate the average distance from the center point. Only beams measured during the specified number of most recent scans are used for determining the value. # min good beams Minimum number of laser scans that must be performed. max. outlier percentage Maximum percentage of measurement values that may deviate from the expected average (outliers) The measurements are recorded, the average value of the recorded measurements is calculated and x% of the outliers are ignored. Parameters for evaluating the reliability of the result: max translational offset Maximum translational offset The average value is not accepted if the deviation of the final calculated result of the translation from the provisionally calculated value is too great. max rotational offset Maximum rotational offset The average value is not accepted if the deviation of the final calculated result of the rotation from the provisionally calculated value is too great. max uncertainty radius around translation max uncertainty rotation Maximum permissible deviations from calculated average value of translation. At least 90% of the measured values must be within the average: Calculation of probabilities of hits. Calculation of standard deviations of translation. If the deviation is too great, the result is rejected. Calculation for the rotation, analogous to that for the translation, without consideration of the rotation about Z Deleting a location Procedure 1. Right-click on the location in the map and select Delete location from the context menu. or: Highlight one or more locations in the Locations list, right-click and select Delete location from the context menu. 2. Answer the request for confirmation with OK Moving the platform Moving the platform to a pose Precondition Mobile Robot MapView view The connection to the navigation server is active. The platform is locked. Issued: Version: KUKA Navigation Solution 1.6 V1 35 / 73

36 Procedure 1. Right-click on the platform and select Move to pose from the context menu. The mouse pointer changes into cross hairs. 2. Position the cross hairs on the point to which the platform is to be moved and click on this position. Moving the mouse pointer changes the orientation. 3. Click again. A window opens, indicating the current X and Y values and the orientation in degrees. 4. The values can now be determined more precisely. If required, enter the necessary values. 5. If required: Change the job parameters. (>>> "Job parameters" Page 36) 6. Confirm the entries with OK. The platform now moves to the position Moving the platform to a location Precondition Mobile Robot MapView view The connection to the navigation server is active. The platform is locked. The required location is available. Procedure 1. Right-click on the platform and select Move to location from the context menu. 2. Click on the desired location on the map. or: On the Locations page, click on the desired location in the list. A window opens, displaying the values of the location. 3. If required: Change the job parameters. (>>> "Job parameters" Page 36) 4. Confirm with OK. The platform now moves to the location (X, Y, orientation). Only if the location is a taught location: the platform can now be fine-positioned using the laser measurement data. 5. In Mobile Robot MapView view, display the Locations page. 6. Click on Perform Fine Localization. A window is displayed. 7. If required: Modify the fine localization parameters. (>>> "Parameter" Page 34) 8. On the map, click once on the platform and once on the location. 9. In the window, click on Perform Fine Localization. The platform is now fine-positioned. 10. Once the operation has been completed, the Close Information Sheet button is displayed. Click on it to close the window Job parameters Parameter Max. velocity Max. acceleration Type: INT, unit: percent The percentage values refer to the maximum values defined in the software for the individual platforms. 36 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

37 6 Actions in the KUKA Map Perspective 6.13 Edit graph Graphs define possible paths in space. Graphs are constructed from nodes and edges. A node defines a point on the map. In the procedure described here, the node is set without providing exact X and Y values. The X and Y values can be adjusted afterwards via the node properties. This can be also performed for several or all of the nodes at once (e.g. if a horizontal or vertical alignment of the nodes is desired). (>>> "Defining node properties" Page 40) One edge connects 2 nodes. An edge indicates a direction of motion. Every edge is assigned a motion type that defines how the platform must move to the next node (default: no motion). The motion type as well as further properties of the edge can be edited. (>>> "Defining edge properties" Page 42) Fig. 6-5: Map section with simple graph Properties that apply to nodes and edges: Column RobotTypeId ConfigType ConfigValue Click on the cell. A selection box is displayed. Select the platform type to which the following settings should apply. It can be either a specific type or All Types. If the same settings are to apply to several types, but not to all types, an individual row must be created for each type. Click on the cell. A selection box is displayed. Select a parameter to be configured for the selected platform type. The value of the parameter selected under ConfigType is displayed here. The value can be modified in the Attribute area. (The value cannot be modified directly in the table.) Creating a graph Precondition Mobile Robot MapView view Issued: Version: KUKA Navigation Solution 1.6 V1 37 / 73

38 The connection to the navigation server is active. The desired map is displayed. Procedure 1. Click on the Topology graph icon. The Topology graph page is displayed. 2. Click on Create graph. The following modes are now active: Edit graph Set node 3. Move the mouse pointer onto the map. A gray circle moves with the mouse pointer. Click on the point in the map where the node is to be. Or, if locations exist and the node is to be identical to a location, move the mouse pointer onto the location. The circle automatically positions itself on the location. Click. 4. Click on further points where nodes are to be. 5. Once all nodes have been set for this graph, richt-click on the map. This ends the Set node mode. After exiting the Set node mode, further individual nodes can be created by double-clicking on the map. 6. The IDs of the graph and the nodes are then displayed on the Topology graph page. Enter a name for the graph in the Graph list. 7. To create an edge, right-click on a node and select Generate edge from the context menu. or: Double-click on the node in the map. 8. A gray circle with a movable arrow is displayed. Move the circle onto an existing node and click. Both nodes are now connected. Or, to create a new node and simultaneously create the edge, click on the point where the new node is to be. 9. Create all edges in this manner and, if necessary, create further nodes. An edge indicates a direction of motion. This means that if the platform is to be able to move between node 1 and node 2, 2 edges must be created between the nodes. 10. If necessary, move the nodes using Drag&Drop. If the nodes are already connected via edges, the edges move as well. 11. Press the ESC key to exit the Edit graph mode. The Create graph button is then reactivated and a further graph can be created. 12. Only one graph is ever displayed on the map. To display a graph, doubleclick on its ID in the Graph list. 13. To reactivate the Edit graph mode (i.e. to add further edges), right-click on the graph. (On the map or in the list.) Select Edit graph in the context menu Deleting graphs, nodes or edges Precondition Mobile Robot MapView view The connection to the navigation server is active. The desired map is displayed. To delete a graph: The Edit graph mode is not active. To delete nodes or edges: 38 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

39 6 Actions in the KUKA Map Perspective The Edit graph mode is active. Procedure Deleting a graph: 1. Right-click on the graph in the map or in the Graph list and select Delete graph from the context menu. 2. Answer the request for confirmation with OK. Deleting nodes: If nodes are deleted, the associated edges are also automatically deleted. 1. Right-click on the node in the map and select Delete graph element from the context menu. Or: Highlight one or several nodes in the Nodes list, right-click and select Delete graph element from the context menu. 2. Answer the request for confirmation with OK. Deleting edges: 1. Right-click on the edge in the map and select Delete graph element from the context menu. Or: Highlight one or several edges in the Edges list, right-click and select Delete graph element from the context menu. 2. Answer the request for confirmation with OK Linking a node to a location A node has an X and a Y value, but does not have an orientation angle. Nodes can be linked to locations in order to enable the platform to move via graphs also to positions with orientation angles. The platform can then move from the node to a location. A node created on a location is already linked to this location. A node can be linked to multiple locations. A location can only be linked to one node. Beyond the procedure described here, links can also be created via the node properties. Precondition Mobile Robot MapView view The connection to the navigation server is active. The graph is displayed on the map. Procedure Creating a link: 1. Right-click on the graph in the Graphs list and select Edit graph from the context menu. The Edit graph mode is active. 2. Right-click on the edge in the Node list and select Link location from the context menu. 3. Click on the location on the map. This node is now linked to the location. 4. Repeat steps 2 and 3 to link the same node to a further location. 5. Repeat steps 2 to 4 to link another node to locations. 6. Press the ESC key to exit the Edit graph mode. Displaying a link: Links can be displayed on the map. They are indicated by broken yellow lines. In the Edit graph mode: Click on the node in the map. The links of the node are displayed. Issued: Version: KUKA Navigation Solution 1.6 V1 39 / 73

40 Outside of the Edit graph mode: Click on the graph in the map. The links for every node in the graph are displayed Defining node properties Precondition Mobile Robot MapView view The connection to the navigation server is active. The graph is displayed on the map. Procedure 1. Right-click on the graph in the Graph list and select Edit graph from the context menu. The Edit graph mode is active. 2. Right-click on the edge in the Node list and select Edit node from the context menu. The Edit node mode is active. Table It is also possible to select several or all of the nodes in the list and to edit properties simultaneously. The Properties area then displays the intersection of the properties. Selection occurs as is typical in Windows, e.g. via Ctrl + Click. The Properties area appears at the bottom in the Mobile Robot MapView view. The property NodePosition is available by default. If the node is linked to a location, NodeAssociatedLocations is also available. 3. Select the required settings and click on Save properties. If several nodes are selected, the settings for all of these nodes are adopted. 4. To hide the Properties area again, click on Close. This also ends the Edit node mode. 5. Press the ESC key to exit the Edit graph mode. Fig. 6-6: Table in the Properties area The Attribute area is located on the user interface to the right of the area displayed here. Configuration type NodePosition NodeAssociatedLocations Click on the cell. In the Attribute area, the X and Y values of the node can now be modified. If this property is not available, it can be added by clicking on Add property. Click on the cell. In the Attribute area, links to locations can now be added and removed. Add: Click on Choose location. Click on the location to be linked on the map. Remove: In the Location IDs box, delete the ID of the location. 40 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

41 6 Actions in the KUKA Map Perspective Configuration type Position Name Orientations AllowRotation Restriction Locations Accuracy Defines the position using the X and Y values of the node on the map. Can be defined for all platform variants. A position is assigned to each node. A position is automatically set by creating a node. A position can be configured using the Properties table. A name can be assigned to the node. The names must be unique within a graph and must not be assigned more than once. Number of orientations that may be adopted by a platform (robot of the type concerned) at a node. The orientations of the platform must be defined in degrees. This limitation for the permissible orientations applies both when the platform passes over the node as part of a path and also when the node is the end pose of a path. Defines which platform may rotate at a node. During a rotation, the limitation regarding permissible orientations may be violated. The permissible orientation must be reached at the end of the rotation. Disables the node for selected platforms. Assignment of multiple locations to a node. Defines the maximum deviation from the destination. (>>> "Defining the maximum deviation from the target" Page 53) Maximum permissible translational deviation from the node (unit: m) Maximum permissible rotational deviation from the orientation (unit: degrees) Issued: Version: KUKA Navigation Solution 1.6 V1 41 / 73

42 Configuration type StartPoseRecover Action Correction of the start pose If, before VirtualLineMotion is executed, the platform is located too far from the start pose (but within the specified accuracy), the position of the platform is corrected. Maximum permissible translational distance (unit: m) > 0 Maximum permissible rotational distance (unit: degrees) Assigns a user-defined action to a node. The user-defined action is identified by means of the ID and must be implemented using the interface TopologyNodeAction-Interfaces. The action must be registered with its ID in the fleet manager before a GraphMotion is commanded in a graph. For a node with a user-defined action, the Boolean values OnLeaveStart and OnReachGoal can be set with the following effect: If the node is the first node in a located path and OnLeaveStart (=true), the user-defined action is executed before the motion that is parameterized at the first edge. If the node is the last node in a located path and OnReachGoal (=true), the user-defined action is executed after the motion that is parameterized at the last edge. If the node is neither the first node nor the last node in a located path, the user-defined action is always executed. The action is executed after the motion parameterized at the edge before the node and before the motion parameterized at the edge after the node. In the case of implementation of a TopologyNodeAction, it must be noted that the node may not be left during execution of the action Defining edge properties Precondition Mobile Robot MapView view The connection to the navigation server is active. The graph is displayed on the map. Procedure 1. Right-click on the graph in the Graph list and select Edit graph from the context menu. The Edit graph mode is active. 2. Right-click on the edge in the Edge list and select Edit edge from the context menu. The Edit edge mode is active. It is also possible to select several or all of the edges in the list and to edit properties simultaneously. The Properties area then displays the intersection of the properties. Selection occurs as is typical in Windows, e.g. via Ctrl + Click. The Properties area appears at the bottom in the Mobile Robot MapView view. 3. Click on Add property. A row appears in the table. 4. Select the required settings in the row and click on Save properties. 5. Repeat steps 3 and 4 to define additional properties. 6. To hide the Properties area again, click on Close. This also ends the Edit edge mode. 42 / 73 Issued: Version: KUKA Navigation Solution 1.6 V1

43 6 Actions in the KUKA Map Perspective 7. Press the ESC key to exit the Edit graph mode. Table Fig. 6-7: Table in the Properties area One row in the table is one property. A property consists of several individual settings. The Attribute area along with a box is located on the user interface to the right of the area displayed here. If the box is not visible, expand the user interface to full-screen width. Column Maximum velocity Maximum acceleration Maximum deceleration Weighting Refers to the maximum value of the platform velocity on an edge Refers to the maximum value of the platform acceleration on an edge Refers to the maximum value of the platform deceleration on an edge Weights the edge The weighting is always a positive value (factor > 0): Value of the factor tends towards zero: Probability is high that the platform will use this edge. Value of the factor tends towards infinity: Probability is low that the platform will use this edge. Issued: Version: KUKA Navigation Solution 1.6 V1 43 / 73