FUNCTION_BLOCK SMC_TRAFOF_Tripod_Arm
The transformation module is provided to execute forward transformations of a tripod arm.
Note
For detailed information on transformation modules see the survey on SoftMotion transformations.
InOut:
|
Scope |
Name |
Type |
Initial |
Comment |
|
Input |
dArmLength1 |
LREAL |
Length of arm1 connected to motor |
|
|
dArmLength2 |
LREAL |
Length of arm2 from arm to stewart |
||
|
dArm1Radius |
LREAL |
Radius of the circle that goes through all three motor axes |
||
|
dStewartRadius |
LREAL |
0 |
Radius of the stewart plate |
|
|
dDistance |
LREAL |
Distance between two cooperating linkages at outer and inner ring |
||
|
dRotationOffset |
LREAL |
0 |
Mathematically oriented angle between axis A and origin (0,0) in degrees |
|
|
dOffsetA |
LREAL |
0 |
Additional offset of axis A in SoftMotion units |
|
|
dOffsetB |
LREAL |
0 |
Additional offset of axis B in SoftMotion units |
|
|
dOffsetC |
LREAL |
0 |
Additional offset of axis C in SoftMotion units |
|
|
Output |
dx |
LREAL |
X-position of centre of inner ring/manipulator in geo coordinates |
|
|
dy |
LREAL |
Y-position of centre of inner ring/manipulator in geo coordinates |
||
|
dz |
LREAL |
Z-position of centre of inner ring/manipulator in geo coordinates |
||
|
Inout |
DriveA |
AXIS_REF_SM3 |
Reference to axis A |
|
|
DriveB |
AXIS_REF_SM3 |
Reference to axis B |
||
|
DriveC |
AXIS_REF_SM3 |
Reference to axis C |
