Kin_ArticulatedRobot_6DOF (FB)
FUNCTION_BLOCK Kin_ArticulatedRobot_6DOF EXTENDS Kin_Coupled
Transformation FB for a 6 axes articulated robot.
The machine coordinate system is shown at the bottom of axis 0. The Z axis points upwards, the X axis points “forward” towards the tool center point. The origin of the coordinate system is the intersection of axis 0 and the bottom of the robot. The sense of rotation is indicated by black arrows. The arrows point along the axis. The positive sense of rotation is given by the right-hand rule. For example, when axis 0 is turned in positive direction, the robot rotates counterclockwise when viewed from above. The three orientation axes of the robot's hand intersect in a single point, the wrist center point.
The left figure shows the reference position of the kinematic, i.e. the position when all axes are in their zero-position. The names and signs of the parameters are due to the Denavit-Hartenberg convention. The right figure shows the additional Denavit-Hartenberg parameter d3.
Robots with the following Denavit-Hartenberg configuration are supported (the values of d_i and a_i are supplied in the configuration):
|
joint number |
joint offset |
link offset d_i |
link length a_i |
link twist |
|
0 |
0° |
d1 |
a1 |
90° |
|
1 |
90° |
0 |
a2 |
0° |
|
2 |
0° |
d3 |
a3 |
90° |
|
3 |
0° |
d4 |
0 |
90° |
|
4 |
0° |
0 |
0 |
-90° |
|
5 |
0° |
d6 |
0 |
0° |
In contrast to our convention, the Z axis of the tool coordinate system points in the direction of the tool, that is, away from the robot.
The single axes values have the following interpretation:
|
a0 |
position of the first rotary axis in degrees |
|
a1 |
position of the second rotary axis in degrees |
|
a2 |
position of the third rotary axis in degrees |
|
a3 |
position of the fourth rotary axis in degrees |
|
a4 |
position of the fifth rotary axis in degrees |
|
a5 |
position of the sixth rotary axis in degrees |
The axes are constrained as follows:
Axes 0, 1, 3, and 4: ]-180°; 180°[
Axis 2: [-90°; 180°]
Axis 5: not constrained, the range may be greater than 360°
Attributes:
sm_kin_libdoc
InOut:
|
Scope |
Name |
Type |
Comment |
Inherited from |
|
Input |
itfPosKin |
|||
|
itfOriKin |
||||
|
d1 |
LREAL |
Denavit-Hartenberg Parameter d1, >= 0 |
||
|
a1 |
LREAL |
Denavit-Hartenberg Parameter a1, >= 0 |
||
|
a2 |
LREAL |
Denavit-Hartenberg Parameter a2, > 0 |
||
|
d3 |
LREAL |
Denavit-Hartenberg Parameter d3 |
||
|
a3 |
LREAL |
Denavit-Hartenberg Parameter a3, >= 0 |
||
|
d4 |
LREAL |
Denavit-Hartenberg Parameter d4, >= 0 |
||
|
d6 |
LREAL |
Denavit-Hartenberg Parameter d6, >= 0 |
