Starting from the Cartesian position of the TCP, this method evaluates the solution of the inverse kinematics, returning the Cartesian position of all the intermediate points in the kinematic structure.
The function implements the interface IF_CollisionHandlerSCARA4Ax.
Access: PUBLIC
|
Input |
Data type |
Description |
|---|---|---|
|
i_stTCPPosition |
SE_Math.ST_Vector3D |
TCP position with reference to the coordinate system of the robot. |
|
i_stTCPOrientation |
SE_Math.ST_Vector3D |
TCP orientation with reference to the coordinate system of the robot. |
|
i_etShoulderConfiguration |
Shoulder configuration to be considered for the solution. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_xError |
BOOL |
The output is set to TRUE if an error has been detected during the execution. |
|
q_etResult |
POU-specific output on the diagnostic; q_xError = FALSE -> Status message; q_xError = TRUE -> Diagnostic message. |
|
|
q_sResultMsg |
STRING(80) |
Event-triggered message that gives additional information on the diagnostic state. |
|
q_stResultLocal |
Result of the kinematics, referred to the local coordinate system of the robot. This result can be provided as input of UpdateFromKinematicsResult. |
|
|
q_stResultGlobal |
Result of the kinematics, referred to a global coordinate system. This is evaluated based on the configured values of base position and orientation. |
|
q_xError |
q_etResult |
Enumeration value |
Description |
|---|---|---|---|
|
FALSE |
0 |
Success |
|
|
TRUE |
25 |
The provided position is outside the workspace. |
|
Enumeration name: |
OutsideWorkspace |
|
Enumeration value: |
25 |
|
Description: |
The provided position is outside the workspace. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Could not evaluate the inverse kinematics. |
i_stTCPPosition describes a position that is not reachable by the robot. |
Make sure to provide a TCP position that is inside the workspace of the robot. |