ST_TrackingConstraints
Description
Structure to provide a list of constraints for a certain robot within a tracking system.
Structure Elements
|
Name |
Data type |
Description |
|---|---|---|
|
stMinPosition |
ST_CartesianPose |
Minimum position of a surface defined regarding the tracking coordinate system. |
|
stMaxPosition |
Maximum position of a surface defined regarding the tracking coordinate system. |
|
|
etWorkingPlane |
Working plane of the tracking system. |
|
|
etDirection |
Direction of the tracking system. |
|
|
lrMaxDirectionPosition |
LREAL |
Maximum position that the robot can reach along the direction of the tracking and regarding the tracking coordinate system. |
|
stHeightRange |
ST_ValueRange |
Absolute height range referred to the tracking coordinate system. For example, in case of a spline movement, the apex of the spline must be within this range. |
|
lrGlobalNoCollisionHeight |
LREAL |
Absolute minimum height with no risk of collision considering all the systems with reference to the tracking coordinate system. |
|
lrLocalNoCollisionHeight |
LREAL |
Absolute minimum height with no risk of collision considering this tracking system with reference to the tracking coordinate system. |