modellingcomponents:elements:robotics
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende ÜberarbeitungNächste ÜberarbeitungBeide Seiten der Revision | ||
modellingcomponents:elements:robotics [2022/01/19 09:01] – [FKDH] oliver | modellingcomponents:elements:robotics [2022/02/02 13:21] – [Generated trajectories] oliver | ||
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^ jointAxes | Comma seperated List of Strings | List of joint axes element names with an optional " | ^ jointAxes | Comma seperated List of Strings | List of joint axes element names with an optional " | ||
^ calibrateIncludes | name of a switch | Name of a switch to define the static calibration trial with the normal pose of the robot arm | Yes | | ^ calibrateIncludes | name of a switch | Name of a switch to define the static calibration trial with the normal pose of the robot arm | Yes | | ||
- | ^ nominalD | Comma seperated list of double values >=0, NaN included | Used for method=" | + | ^ nominalD | Comma seperated list of double values >=0, NaN included | Used for method=" |
^ lastD | REAL| Used for classical Denavit Hartenberg method only. Defines the last d parameter in [mm]. This parameter can not be estimated. It is assumed that the last coordinate system (the CS of the TCP) has the same z-direction as the last joint axis (r==0, alpha==0). The parameter d is the translation of the origin of the last joint axis in direction of this axis. If the parameter is not set it is automatically set to (0d,0d,0d) which results in a TCP coordinate system identical to the wrist2 CS, but a warning is written into the log. | Yes | | ^ lastD | REAL| Used for classical Denavit Hartenberg method only. Defines the last d parameter in [mm]. This parameter can not be estimated. It is assumed that the last coordinate system (the CS of the TCP) has the same z-direction as the last joint axis (r==0, alpha==0). The parameter d is the translation of the origin of the last joint axis in direction of this axis. If the parameter is not set it is automatically set to (0d,0d,0d) which results in a TCP coordinate system identical to the wrist2 CS, but a warning is written into the log. | Yes | | ||
^ signR | Comma seperated list of boolean values " | ^ signR | Comma seperated list of boolean values " | ||
Zeile 26: | Zeile 26: | ||
^ < | ^ < | ||
^ < | ^ < | ||
- | |||
^ < | ^ < | ||
^ < | ^ < | ||
Zeile 34: | Zeile 33: | ||
^ < | ^ < | ||
+ | If the method is " | ||
====Generated parameters==== | ====Generated parameters==== | ||
Zeile 88: | Zeile 88: | ||
======FKDH====== | ======FKDH====== | ||
- | This element determines | + | This element determines |
==== Attributes ==== | ==== Attributes ==== | ||
Zeile 95: | Zeile 95: | ||
^ name | String | Name of the element | Yes | | ^ name | String | Name of the element | Yes | | ||
^ coordinateSystem | String | Defines the the reference coordinate system by its name. If it is not set than (0,0,0) ist used as the origin and e1, e2, e3 are used as its axes. | No| | ^ coordinateSystem | String | Defines the the reference coordinate system by its name. If it is not set than (0,0,0) ist used as the origin and e1, e2, e3 are used as its axes. | No| | ||
- | ^ alpha | Comma seperated list of REAL variable (trajectorie) names. | Denavit-Hartenberg parameter | + | ^ alpha | Comma seperated list of REAL values in [rad]. | Denavit-Hartenberg parameter |
- | ^ deltaTheta | Comma seperated list of REAL values | Angle in static neutral pose between Denavit Hartenberg x-axis (r) and the corresponding joint angle measurement by the robot. | + | ^ deltaTheta | Comma seperated list of REAL values |
- | ^ theta | Comma seperated list of REAL value names | Denavit-Hartenberg parameter | Yes | | + | ^ theta | Comma seperated list of REAL value in [rad] variable |
- | ^ d | Comma seperated list of REAL values| Denavit-Hartenberg parameter | Yes | | + | ^ d | Comma seperated list of REAL values |
- | ^ r | Comma seperated list of REAL values| Denavit-Hartenberg parameter | Yes | | + | ^ r | Comma seperated list of REAL values |
====Generated trajectories ==== | ====Generated trajectories ==== | ||
^ Name ^ Type ^ Description ^ | ^ Name ^ Type ^ Description ^ | ||
- | ^ < | + | ^ < |
- | ^ < | + | ^ < |
+ | ^ < | ||
+ | ^ < | ||
+ | |||
+ | The index starts with 1 because with the index 0 typically the reference system is called. | ||
For the last coordinate system trajectories are created without the index as a suffix. This system can be accessed by further calcmodel elements. | For the last coordinate system trajectories are created without the index as a suffix. This system can be accessed by further calcmodel elements. |
modellingcomponents/elements/robotics.txt · Zuletzt geändert: 2023/02/21 10:10 von oliver