SMC_TrafoF_ArticulatedRobot_6DOF (FB)
FUNCTION_BLOCK SMC_TrafoF_ArticulatedRobot_6DOF
SMC_TrafoF_ArticulatedRobot_6DOF implements the mathematic forward transformation of an articulated robot with six rotary axes used for determinating position and orientation of the end effector with the axis angles.
Note
All drives are assumed to be scaeld so that one technical unit [u] corresponds to one degree.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Inout |
config |
The configuration settings of the robot, SMC_TrafoConfig_ArticulatedRobot_6DOF |
|
|
Drive0 |
AXIS_REF_SM3 |
The drive of axis 0, AXIS_REF_SM3 |
|
|
Drive1 |
AXIS_REF_SM3 |
The drive of axis 1 |
|
|
Drive2 |
AXIS_REF_SM3 |
The drive of axis 2 |
|
|
Drive3 |
AXIS_REF_SM3 |
The drive of axis 3 |
|
|
Drive4 |
AXIS_REF_SM3 |
The drive of axis 4 |
|
|
Drive5 |
AXIS_REF_SM3 |
The drive of axis 5 |
|
|
Output |
vToolPos |
SMC_Vector3D |
Current position of the tool center point in world coordinates |
|
mToolOrientation |
SMC_Matrix3 |
Tool orientation as a rotation matrix |
|
|
armState |
State of joint 0 |
||
|
elbowState |
State of joint 1 |
||
|
handState |
State of joint 4 |
