FUNCTION_BLOCK Kin_Wrist3 IMPLEMENTS ISMToolKinematics2,
Transformation FB for a 3-axis inline wrist, where a0 rotates around the Z axis, a1 around the new Y axis, and a2 around the new Z-axis. The tool points in direction of the negative Z-axis of the TCP coordinate system.
All three axes of rotation intersect in one point, called the wrist center. (This kinematics is also called spherical wrist, or euler wrist.)
|
joint number |
joint offset |
link offset d_i |
link length a_i |
link twist |
|
0 |
0° |
0 |
0 |
90° |
|
1 |
0° |
0 |
0 |
-90° |
|
2 |
0° |
dToolOffsetZ |
0 |
0° |
The axis values have the following interpretation:
|
a0 |
angle [deg] of rotation around the z-axis of the flange coordinate system (A) |
|
a1 |
angle [deg] of rotation around the modified negative y-axis (B) |
|
a2 |
angle [deg] of rotation around the modified z-axis (C) |
Attributes:
sm_kin_libdoc
InOut:
|
Scope |
Name |
Type |
Comment |
|
Input |
dToolOffsetX |
LREAL |
Tool offset along the x-axis of the TCP coordinate system. |
|
dToolOffsetY |
LREAL |
Tool offset along the y-axis of the TCP coordinate system. |
|
|
dToolOffsetZ |
LREAL |
Tool offset along the z-axis of the TCP coordinate system. |
