ROBOT_EDU_KIN (183)
ROBOT_EDU_KIN (183)
ID 183
|
Application: |
PLC |
SIM |
Group: DEVICES
Short description:
Function that calculates the simple kinematics of an educational robot.
Inputs (6):
|
no. |
type |
impulse |
mark |
notes |
|
1 |
R |
no | alfa1 | Joint coordinate [rad] of joint no. 1 |
| 2 | R | no | alfa2 | Joint coordinate [rad] of joint no. 2 |
| 3 | R | no | alfa3 | Joint coordinate [rad] of joint no. 3 |
| 4 | R | no | alfa4 | Joint coordinate [rad] of joint no. 4 |
| 5 | R | no | alfa5 | Joint coordinate [rad] of joint no. 5 |
| 6 | R | no | alfa6 | Joint coordinate [rad] of joint no. 6 |
Outputs (12):
|
no. |
type |
impulse |
mark |
notes |
|
1 |
R |
no | R11 | [1,1] element of the rotation matrix of the coordinate system after rotation |
| 2 | R | no | R12 | [1,2] element of the rotation matrix of the coordinate system after rotation |
| 3 | R | no | R13 | [1,3] element of the rotation matrix of the coordinate system after rotation |
| 4 | R | no | R21 | [2,1] element of the rotation matrix of the coordinate system after rotation |
| 5 | R | no | R22 | [2,2] element of the rotation matrix of the coordinate system after rotation |
| 6 | R | no | R23 | [2,3] element of the rotation matrix of the coordinate system after rotation |
| 7 | R | no | R31 | [3,1] element of the rotation matrix of the coordinate system after rotation |
| 8 | R | no | R32 | [3,2] element of the rotation matrix of the coordinate system after rotation |
| 9 | R | no | R33 | [3,3] element of the rotation matrix of the coordinate system after rotation |
| 10 | R | no | x | Position in the axis 'x0' [mm] of the x6 point in relation to the coordinate system of the robot base |
| 11 | R | no | y | Position in the axis 'y0' [mm] of the x6 point in relation to the coordinate system of the robot base |
| 12 | R | no | z | Position in the axis 'z0' [mm] of the x6 point in relation to the coordinate system of the robot base |
Settings:
|
no. |
type |
mark |
notes |
|
1 |
R |
d1 | Length [mm] of the first segment; default - 1 |
| 2 | R | a2 | Length [mm] of the second segment; default - 1 |
| 3 | R | d4 | Length [mm] of the third segment; default - 1 |
| 4 | R | d6 | Length [mm] of the fourth segment; default - 1 |
Operation:
The ROBOT_EDU_KIN function calculates the simple kinematics of an educational robot, i.e. the orientation of the coordinate system associated with the robot's tip (Rz, Ry, Rx) in relation to the coordinate system associated with the base and the position of the point with the coordinates x6, y6, z6 in relation to the coordinate system of the robot base. The right-hand coordinate system has been adopted. The joints are marked: J1, J2, J3, J4, J5, J6. The initial settings of the joints are entered in the model.
Fig. Direction of rotation
Fig. Coordinate systems
R registers and M markers used: none