Difference between revisions of "Element Coordination"
(→Affected(changed) commands) |
(→Introduction) |
||
| Line 1: | Line 1: | ||
= Introduction = | = Introduction = | ||
| − | + | The main goal of this feature is to synchronize both in space and in time movement of several robots together.This will be done using the standard master-slave relationship existing int he system and expanding it into a general robot-to-robot connection. Using the Moving Frame feature typically used in conveyor tracking by enabling the source of the moving frame to be any robot type. | |
| + | |||
| + | The master robot is the master source of a moving frame the the slave robot follows. The moving frame mechanism will be used as a skeleton dropping all synchronization stuff typically used in conveyor tracking. In this case the robot is immediately synchronizing to the moving frame imposing the condition that master-slave relationship can be only assigned when both robots are standing still (not moving). | ||
| + | |||
| + | The robot's mutual space-relationship will be defined through special base and tool offsets of the moving frame. Together with it mutual coordination of robots of different point types (world spaces) and/or different NDOF's will be enabled. | ||
= New commands = | = New commands = | ||
Revision as of 12:56, 15 March 2012
Introduction
The main goal of this feature is to synchronize both in space and in time movement of several robots together.This will be done using the standard master-slave relationship existing int he system and expanding it into a general robot-to-robot connection. Using the Moving Frame feature typically used in conveyor tracking by enabling the source of the moving frame to be any robot type.
The master robot is the master source of a moving frame the the slave robot follows. The moving frame mechanism will be used as a skeleton dropping all synchronization stuff typically used in conveyor tracking. In this case the robot is immediately synchronizing to the moving frame imposing the condition that master-slave relationship can be only assigned when both robots are standing still (not moving).
The robot's mutual space-relationship will be defined through special base and tool offsets of the moving frame. Together with it mutual coordination of robots of different point types (world spaces) and/or different NDOF's will be enabled.
New commands
- base
- tool
- Mirror Plane Position
- Mirror Type
- Translation Transformation
- Orientation Transformation
Affected(changed) commands
- Master Source
ability to add <rbot> elements and command (setpoint) and feedback(here) positions
- Slave
immediately enters into synchronization-tracking mode, no transition
- Trigger
will be not allowed
- Is Motion Frame Synchronized
- Is In Window
- Upstream
- Downstream
- Upmaster
- Downmaster
- Noi
returns -1
Side effects
- Zero