IF_CollisionHandlerDelta2Ax – General Information

Overview

This chapter provides information on:

Interface for collision handler of a Delta2Ax robot.

This interface contains methods and properties related to the configuration and update of the collision handler of a Delta2Ax robot.

Extension: __System.IQueryInterface

The following graphic presents the collision entity configuration for a Delta2Ax collision handler:

The collision entity of a Delta2Ax collision handler is configured with:

A Capsule for each upper link, with point A configured as the Joint1 position and the point B evaluated along the Joint1-Joint2 direction at a position determined by the configured length of the link
A Capsule for each lower link, with point A configured as the Joint2 position and the point B evaluated along the Joint2-Joint3 direction at a position determined by the configured length of the link
An OBB with extents determined by the configured values of stTCPBoxHalfExtents and center evaluated as the TCP position combined with the configured stTCPBoxPosition that is defined with reference to the TCP frame

For more information on the parameters, refer to ST_Delta2AxParameters.

Name	Data type	Accessing	Description
xEnableTCPCollisionGroup	BOOL	Get, Set	If TRUE, the collision group representing the TCP is enabled; if FALSE, the collision group is disabled. NOTE: A disabled collision group is ignored by the collision and distance queries.
raxEnableChainCollisionGroup	REFERENCE TO ARRAY [1...Gc_udiDelta2AxNumberOfJoints] OF BOOL	Get, Set	Each element of this property allows to enable (TRUE value) or disable (FALSE value) a collision group linked to one of the chains of the robot. It is possible to use the elements of ET_Delta2AxCollisionGroupIndex to index the desired collision group. NOTE: A disabled collision group is ignored by the collision and distance queries.