FUNCTION_BLOCK Kin_Pos_RRR IMPLEMENTS ISMPositionKinematicsInternal,
ISMPositionKinematics_Offset2 , ISMKinematicWithConfigurations, ISMKinematicWithInfo2, ISMKinematicAxisSettings
Transformation FB for a 3 axis articulated robot consisting of three rotary joints. The first joint rotates around the z-axis, the second and third are parallel and rotate around the y-axis.
This kinematics forms the first half of the 6-axis 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 flange. 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 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.
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° |
|
flange |
0° |
d4 |
0 |
0° |
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 |
The axes are constrained as follows:
Axes 0, 1: ]-180°; 180°[
Axis 2: [-90°; 180°]
Attributes:
sm_kin_libdoc
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
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 |
