Element Coordination

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.

Affected(changed) commands

• Creation

Moving Frame will be created in the same way as axes-based means using the command: COMMON SHARED <mf name> as moving frame of <mf-type> the difference between axes-based and robot-based moving frames in the argument supplied to the MasterSource command. In the axis-based MF's the point-type of all point MF's properties (zero, here, Upstream, DownStream) are based on the point type of the MF supplied during it's creation.In axes-based MF's the master source is a single axis (or multiple of them if NDOF>1) while the robot-based MF's it is a robot element that has it's own point-type. In robot-based MF's the NDOF is ignored and the relation between MF's point-type and the robot's point type will be defined using the newly introduced properties (Translation Transformation , Orientation Transformation ).

However the biggest difference between axes-based MF's and robot-based MF's is that the later ones do not support on-the-fly synchronization to the moving frame. The engagement of a robot to a robot-based MF is possible in non-moving state only!

However

• 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

New commands

• base
• tool
• Mirror Plane Position
• Mirror Type
• Translation Transformation

defines a matrix for the transformation of the position part between MF's point-type and the MasterSource robot-type.

• Orientation Transformation

Side effects

• Zero