FUNCTION_BLOCK Kin_Scara3_Z EXTENDS Kin_Coupled
Transformation FB for Scara3 kinematics with an additional Z-axis.
The Selective Compliance Assembly Robot Arm (SCARA) is a special type of industrial robot which resembles to an human arm. A Scara3 system exhibits three axes and three degrees of freedom. However, the motion is still limited to the X-Y-plane.
This FB features an additional vertical Z-axis. The system consists of
a rotary axis a0 that turns the robot around the Z axis
the first joint with length dArmLength1,
a second rotary axis a1 that turns the following parts of the robot around the Z axis,
the second joint with length dArmLength2,
a third rotary axis a2 that turns the following parts of the robot around the Z axis,
the third joint with length dArmLength3 and
a linear axis (a3) that is orientated in direction of Z.
There are two configurations that can be switched with the input xElbowRight of Kin_Scara3_Z_Config.
Relative to the machine coordinate system, the tool coordinate system is shifted and rotated around the Z axis.
The single axes values have the following interpretation:
|
a0 |
position of the first rotary axis around Z in degrees |
|
a1 |
position of the second rotary axis around Z in degrees |
|
a2 |
position of the third rotary axis around Z in degrees |
|
a3 |
position of the linear axis in direction of Z axis |
Attributes:
sm_kin_libdoc
InOut:
|
Scope |
Name |
Type |
Comment |
Inherited from |
|
Input |
itfPosKin |
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itfOriKin |
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|
dArmLength1 |
LREAL |
Arm length of 1st joint |
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dArmLength2 |
LREAL |
Arm length of 2nd joint |
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|
dArmLength3 |
LREAL |
Arm length of 3rd joint |
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|
dOffsetA1 |
LREAL |
Additional offset of axis A1. This offset is subtracted before the forward transformation and added after the inverse transformation. |
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|
dOffsetA2 |
LREAL |
Additional offset of axis A2. This offset is subtracted before the forward transformation and added after the inverse transformation. |
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|
dOffsetA3 |
LREAL |
Additional offset of axis A3. This offset is subtracted before the forward transformation and added after the inverse transformation. |
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|
dOffsetZ |
LREAL |
Additional offset of axis Z. This offset is subtracted before the forward transformation and added after the inverse transformation. |
