Difference between revisions of "Robot Working Frames"

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{{Languages}}
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{{Languages|Robot_Working_Frames}}  
 
= Robot Working Frames =
 
= Robot Working Frames =
  
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== TOOL ==
  
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==TOOL==
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Tool is a Robot property which informs the system to use the specified location as the tool transformation. It defines the position and orientation of the tool tip in relation to the center of the tool flange. The default tool transformation is the NULL transformation, which can be expressed as TOOL = #{0,0,0,0,0,0} Example: Puma.tool = #{25,0,100,0,45,0}
  
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Tool is a Robot property which informs the system to use the specified location as the tool
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[[File:Axy;Tool frame.png|RTENOTITLE]]
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transformation. It defines the position and orientation of the tool tip in relation to the center of
 
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the tool flange. The default tool transformation is the NULL transformation, which can be
 
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expressed as TOOL = #{0,0,0,0,0,0}
 
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Example:
 
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Puma.tool = #{25,0,100,0,45,0}
 
  
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[[Image:Axy;Tool frame.png]]  
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Another example of tool coordinate calculation:<br/> [[File:RBT FRAMES TOOL.PNG|RTENOTITLE]]
  
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== BASE ==
  
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Another example of tool coordinate calculation:<br>
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Base is a Robot property which informs the system to use the specified location as the base transformation. It defines the position and orientation of the robot's base reference frame relative to the WORLD reference frame. The default base transformation is the NULL transformation, which can be expressed as Puma.base = #{0,0,0,0,0,0}
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[[Image:RBT_FRAMES_TOOL.PNG]]
 
  
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==BASE==
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[[File:RBT FRAMES BASE2.PNG|RTENOTITLE]]
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Base is a Robot property which informs the system to use the specified location as the base
 
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transformation. It defines the position and orientation of the arm in the cell according to the
 
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WORLD reference.
 
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The default base transformation is the NULL transformation, which can be expressed as
 
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Puma.base = #{0,0,0,0,0,0}
 
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[[Image:RBT_FRAMES_BASE.PNG]]
 
  
 
== MachineTable ==
 
== MachineTable ==
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MachineTable is a Robot property which informs the system to use the specified location as
 
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the machinetable transformation. It defines the position and orientation machine working
 
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frame relative to the BASE reference.
 
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The default machinetable transformation is the NULL transformation, which can be
 
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expressed as Puma.MachineTable = #{0,0,0,0,0,0}
 
  
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[[Image:RBT_FRAMES_MT.PNG]]
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MachineTable is a Robot property which informs the system to use the specified location as the machinetable transformation. It defines the position and orientation of a machine table reference frame relative to the WORLD reference frame. The default machinetable transformation is the NULL transformation, which can be expressed as Puma.MachineTable = #{0,0,0,0,0,0}
  
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[[File:RBT FRAMES MT.PNG|RTENOTITLE]]
  
 
{{Note| The inverse usage of MachineTable and WorkPiece properties!}}
 
{{Note| The inverse usage of MachineTable and WorkPiece properties!}}
  
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==WorkPiece==
 
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WorkPiece is a Robot property which informs the system to use the specified location as the
 
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workpiece transformation. It defines the position and orientation of work-piece relative to
 
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the MACHINE TABLE reference.
 
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The default base transformation is the NULL transformation, which can be expressed as
 
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Puma.WorkPiece = #{0,0,0,0,0,0}
 
  
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== WorkPiece ==
  
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[[Image:RBT_FRAMES_WP.PNG]]
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WorkPiece is a Robot property which informs the system to use the specified location as the workpiece transformation. It defines the position and orientation of a work-piece relative to the MACHINE TABLE reference frame. The default WorkPiece transformation is the NULL transformation, which can be expressed as Puma.WorkPiece = #{0,0,0,0,0,0}
  
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[[File:RBT FRAMES WP.PNG|RTENOTITLE]]
  
 
{{Note| The inverse usage of MachineTable and WorkPiece properties!}}
 
{{Note| The inverse usage of MachineTable and WorkPiece properties!}}
  
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==All frames together==
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== All frames together ==
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[[Image:AXY;Robot_Working_Farmes.png]]
 
  
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[[File:AXY;Robot Working Farmes2.png|RTENOTITLE]]
  
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So we have:<br>
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So we have:
  
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'''Pbase=Base:Pworld:Tool'''<br>
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'''Pbase=Base:Pworld:Tool'''<br/> '''Pbase=MachineTable:WorkPiece:PWorkP'''
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'''Pbase=MachineTable:WorkPiece:PWorkP'''
 
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For the given setup user frames will be:<br>
 
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'''Base = #{300,200,1000,0,180,180}'''<br>
 
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'''Tool = #{50,0,0,90,45,0}'''<br>
 
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'''MachineTable = #{400,100,0,0,0,0}'''<br>
 
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'''WorkPiece = #{20,70,150,0,90,-90}'''<br>
 
  
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For the given setup, the user frames will be:<br/> '''Base = #{300,200,1000,0,180,180}'''<br/> '''Tool = #{50,0,0,90,45,0}'''<br/> '''MachineTable = #{400,100,0,0,0,0}'''<br/> '''WorkPiece = #{20,70,150,0,90,-90}'''
  
 
Therefore we have:
 
Therefore we have:
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<big>'''PWP= WorkPiece<sup>-1</sup>: MachineTable<sup>-1</sup>:Base:PWorld:Tool'''</big>
 
<big>'''PWP= WorkPiece<sup>-1</sup>: MachineTable<sup>-1</sup>:Base:PWorld:Tool'''</big>
  
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&nbsp;
  
 
{{Note| The inverse usage of MachineTable and WorkPiece properties!}}
 
{{Note| The inverse usage of MachineTable and WorkPiece properties!}}
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== See Also ==
 
== See Also ==
  
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* [[MC-Basic:robot.TOOL|TOOL]]<br>
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*[[MC-Basic:robot.TOOL|TOOL]]  
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* [[MC-Basic:robot.BASE|BASE]]<br>
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*[[MC-Basic:robot.BASE|BASE]]  
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* [[MC-Basic:robot.WORKPIECE| WORKPIECE]]<br>
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*[[MC-Basic:robot.WORKPIECE|WORKPIECE]]  
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* [[MC-Basic:robot.MACHINETABLE| MACHINETABLE]]<br>
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*[[MC-Basic:robot.MACHINETABLE|MACHINETABLE]]  
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* [[User_Frame | User Frame]]<br>
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*[[User_Frame|User Frame]]  
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<br>
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&nbsp;
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[[Category:Motion Control]]
 
[[Category:Motion Control]]

Latest revision as of 13:26, 29 September 2021

Language: English  • 中文（简体）‎

Robot Working Frames

TOOL

Tool is a Robot property which informs the system to use the specified location as the tool transformation. It defines the position and orientation of the tool tip in relation to the center of the tool flange. The default tool transformation is the NULL transformation, which can be expressed as TOOL = #{0,0,0,0,0,0} Example: Puma.tool = #{25,0,100,0,45,0}

RTENOTITLE

Another example of tool coordinate calculation:
RTENOTITLE

BASE

Base is a Robot property which informs the system to use the specified location as the base transformation. It defines the position and orientation of the robot's base reference frame relative to the WORLD reference frame. The default base transformation is the NULL transformation, which can be expressed as Puma.base = #{0,0,0,0,0,0}

RTENOTITLE

MachineTable

MachineTable is a Robot property which informs the system to use the specified location as the machinetable transformation. It defines the position and orientation of a machine table reference frame relative to the WORLD reference frame. The default machinetable transformation is the NULL transformation, which can be expressed as Puma.MachineTable = #{0,0,0,0,0,0}

RTENOTITLE

NOTE-Info.svgNOTE
The inverse usage of MachineTable and WorkPiece properties!


WorkPiece

WorkPiece is a Robot property which informs the system to use the specified location as the workpiece transformation. It defines the position and orientation of a work-piece relative to the MACHINE TABLE reference frame. The default WorkPiece transformation is the NULL transformation, which can be expressed as Puma.WorkPiece = #{0,0,0,0,0,0}

RTENOTITLE

NOTE-Info.svgNOTE
The inverse usage of MachineTable and WorkPiece properties!

All frames together

RTENOTITLE

So we have:

Pbase=Base:Pworld:Tool
Pbase=MachineTable:WorkPiece:PWorkP

For the given setup, the user frames will be:
Base = #{300,200,1000,0,180,180}
Tool = #{50,0,0,90,45,0}
MachineTable = #{400,100,0,0,0,0}
WorkPiece = #{20,70,150,0,90,-90}

Therefore we have:

PWP= WorkPiece-1: MachineTable-1:Base:PWorld:Tool

 

NOTE-Info.svgNOTE
The inverse usage of MachineTable and WorkPiece properties!

See Also

 

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