Difference between revisions of "TARM robot"
(→Robot Configuration) |
(→Robot Configuration) |
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| − | Reference positions | + | ==Reference positions== |
Cartesian Location Joint (LEFTY) Joint (Righty) | Cartesian Location Joint (LEFTY) Joint (Righty) | ||
| − | #{L1 , 0 , 0 , 0} {0 , 0 , 0 , 0} {2L1 , 180 , 0 , -180} | + | #{L1 , 0 , 0 , 0} {0 , 0 , 0 , 0} {2L1 , 180 , 0 , -180} |
| − | #{0 , L1 , 0 , 0}1 {0 , 90 , 0 , -90} {0 , 90 , 0 , -90} | + | #{0 , L1 , 0 , 0}1 {0 , 90 , 0 , -90} {0 , 90 , 0 , -90} |
| − | #{-L1 , 0 , 0 , 0} {-2*L1 , 0 , 0 , 0} {0 , 180 , 0 , -180} | + | #{-L1 , 0 , 0 , 0} {-2*L1 , 0 , 0 , 0} {0 , 180 , 0 , -180} |
| − | #{0 , 0 , 0 , 0} {-L1 , 0 , 0 , 0} {L1 , 180 , 0 , -180} | + | #{0 , 0 , 0 , 0} {-L1 , 0 , 0 , 0} {L1 , 180 , 0 , -180} |
| − | + | ||
| − | + | ||
| − | + | ==Setup file== | |
| − | Setup file | + | This kinematics type is defined using “model = 7” identifier. Traverse Arm Kinematics group definition: |
| − | This kinematics type is defined using “model = 7” identifier | + | common shared Tarm as group axnm = a5 axnm = a6 axnm = a7 axnm = a8 model = 7 |
| − | Traverse Arm Kinematics group definition | + | |
| − | common shared Tarm as group axnm = a5 axnm = a6 axnm = a7 axnm = a8 model = 7 | + | The only geometric parameter – segment length L1 is kept in '''<robot>.link[1][1]''' |
| − | The only geometric parameter – segment length L1 is kept in <robot>.link[1][1] | + | |
| + | {| | ||
Standard | Standard | ||
Z-Roll | Z-Roll | ||
| Line 48: | Line 49: | ||
(same as | (same as | ||
SCARA or | SCARA or | ||
| − | OCP) | + | OCP) |
| + | | | ||
cplg[1][1] = 1 | cplg[1][1] = 1 | ||
cplg[1][2] = 0 | cplg[1][2] = 0 | ||
| Line 66: | Line 68: | ||
cplg[4][4] = 1 | cplg[4][4] = 1 | ||
coupled = 1 | coupled = 1 | ||
| + | |- | ||
Definition of L1 = 500 mm and positive | Definition of L1 = 500 mm and positive | ||
vertical direction of Z axis. | vertical direction of Z axis. | ||
| + | | | ||
axis[1][1] = 0 | axis[1][1] = 0 | ||
axis[1][2] = 0 | axis[1][2] = 0 | ||
| Line 74: | Line 78: | ||
link[1][2] = 0 | link[1][2] = 0 | ||
link[1][3] = 0 | link[1][3] = 0 | ||
| − | + | |} | |
Revision as of 13:49, 8 July 2014
Contents
TARM (Traverse Arm) robot
General setup
- J1 is the linear traverse axis
- J2 is angular axis of the Z-Roll couple.
- J3 linear (Z) axis of the Z-Roll couple.
- J4 additional rotational axis of the end-effector.
Kinematics
Main Kinematics Equations
Direct Kinematics:
Inverse Kinematics:
 | NOTE |
| Singularity J2 at 90 degrees! |
Additionally there is standard coupling between motor axes A2, A3 and J2, J3 (the SCARA/OCP gear box).
Robot Configuration
Reference positions
Cartesian Location Joint (LEFTY) Joint (Righty)
#{L1 , 0 , 0 , 0} {0 , 0 , 0 , 0} {2L1 , 180 , 0 , -180}
#{0 , L1 , 0 , 0}1 {0 , 90 , 0 , -90} {0 , 90 , 0 , -90}
#{-L1 , 0 , 0 , 0} {-2*L1 , 0 , 0 , 0} {0 , 180 , 0 , -180}
#{0 , 0 , 0 , 0} {-L1 , 0 , 0 , 0} {L1 , 180 , 0 , -180}
Setup file
This kinematics type is defined using “model = 7” identifier. Traverse Arm Kinematics group definition:
common shared Tarm as group axnm = a5 axnm = a6 axnm = a7 axnm = a8 model = 7
The only geometric parameter – segment length L1 is kept in <robot>.link[1][1]
|
cplg[1][1] = 1 cplg[1][2] = 0 cplg[1][3] = 0 cplg[1][4] = 0 cplg[2][1] = 0 cplg[2][2] = 1 cplg[2][3] = 0 cplg[2][4] = 0 cplg[3][1] = 0 cplg[3][2] = 0 cplg[3][3] = 1 cplg[3][4] = 40/360 ' 40mm/per revolution cplg[4][1] = 0 cplg[4][2] = 0 cplg[4][3] = 0 cplg[4][4] = 1 coupled = 1 |
|
axis[1][1] = 0 axis[1][2] = 0 axis[1][3] = 1 link[1][1] = 500 link[1][2] = 0 link[1][3] = 0 |