Difference between revisions of "Defining Cartesian Groups"

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== Creation of cartesian group==
 
== Creation of cartesian group==
  
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Cartesina groups are defined similar to ordinary groups either in configuration file or as a terminal input. The only difference is that at the end the type of the group is defined by:
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Cartesian groups are defined similar to ordinary groups either in configuration file or as a terminal input. The only difference is that at the end the type of the group is defined by : '''model=1  of <point type>'''. where <point type> is string that  defines the actual Cartesian model, which can be one of:
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{|  cellpadding="10"  cellspacing="0"  border="1"
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| constant || numerical value || <point type> <br> string || explanation
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|-
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|NO_ROBOT  || 0  || NONE || List-of-coordinates, uninitialized generic points
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|-
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|TYPE_X   || 1  || X|| X coordinate only
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|-===  ===
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|TYPE_XY || 2  || XY || X Y table
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|-
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|TYPE_XYZ  || 3  || XYZ || X Y Z
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|-
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|TYPE_XYZU || 4  || XYZU ||
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|-
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|TYPE_XYZUV  || 5  ||XYZUV ||
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|-
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|TYPE_XYZUVW  || 6  || XYZUVW ||
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|-
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|TYPE_XYR  || 7  || XYR|| X Y Roll
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|-
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|TYPE_XYRZ   || 8  ||XYRZ ||
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|-
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|TYPE_XYRZU  || 9  ||XYRZU ||
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|-
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|TYPE_XYRZUV  || 10  ||XYRZUV ||
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|-
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|TYPE_XYZR  || 11  || XYZR || X Y Z Roll
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|-
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|TYPE_XYZRU  || 12  ||XYZRU ||
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|-
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|TYPE_XYZRUV  || 13  || XYZRUV||
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|-
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|TYPE_XYZURV  || 14  ||XYZURV ||
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|-
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|TYPE_XYZUR  || 15  ||XYZUR ||
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|-
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|TYPE_XYZRPU  || 16  || XYZRPU||
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|-
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|TYPE_XYZRP  || 17  ||XYZRP || X Y Z Roll Pitch
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|-
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|TYPE_XYRURV  || 18  ||XYZRURV ||
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|-
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|TYPE_XYRUR  || 19  ||XYRUR ||
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|-
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|TYPE_XYRP  || 20  || XYRP||X Y Roll Pitch
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|-
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|TYPE_XYRPU  || 21  || XYRPU||
 +
|-
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|TYPE_XYRPUV  || 22  || XYRPUV ||
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|-
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|TYPE_XYRPUQ  || 23  ||XYRPUQ ||
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|-
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|TYPE_XYZYPR  || 24  ||XYZYPR  || X Y Z Yaw Pitch Roll
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|-
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|TYPE_XYZPR  || 36  || || User defined point
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|-
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|TYPE_XYZA  ||  37  || XYZA || X Y Z A-angle
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|-
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|TYPE_XYZAB  || 38  || XYZAB || X Y Z A-angle B-angle
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|-
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|TYPE_YPR  || 50  || YPR || Yaw Pitch Roll
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|-
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|TYPE_PR  || 51  || PR || Pitch Roll
 +
|-
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|TYPE_R  || 52  || R || Roll
 +
|}

Revision as of 12:26, 28 July 2014

What are Cartesian Groups?

Cartesian groups are enhancements of groups.Same as groups they are collection of axes that can be moved together. In addition to that they have a predefined Cartesian model defining roll of each of its axis in the Cartesian space

Creation of cartesian group

Cartesian groups are defined similar to ordinary groups either in configuration file or as a terminal input. The only difference is that at the end the type of the group is defined by : model=1 of <point type>. where <point type> is string that defines the actual Cartesian model, which can be one of:


constant numerical value <point type>
string 		explanation
NO_ROBOT 0 NONE List-of-coordinates, uninitialized generic points
TYPE_X 1 X X coordinate only
TYPE_XY 2 XY X Y table
TYPE_XYZ 3 XYZ X Y Z
TYPE_XYZU 4 XYZU
TYPE_XYZUV 5 XYZUV
TYPE_XYZUVW 6 XYZUVW
TYPE_XYR 7 XYR X Y Roll
TYPE_XYRZ 8 XYRZ
TYPE_XYRZU 9 XYRZU
TYPE_XYRZUV 10 XYRZUV
TYPE_XYZR 11 XYZR X Y Z Roll
TYPE_XYZRU 12 XYZRU
TYPE_XYZRUV 13 XYZRUV
TYPE_XYZURV 14 XYZURV
TYPE_XYZUR 15 XYZUR
TYPE_XYZRPU 16 XYZRPU
TYPE_XYZRP 17 XYZRP X Y Z Roll Pitch
TYPE_XYRURV 18 XYZRURV
TYPE_XYRUR 19 XYRUR
TYPE_XYRP 20 XYRP X Y Roll Pitch
TYPE_XYRPU 21 XYRPU
TYPE_XYRPUV 22 XYRPUV
TYPE_XYRPUQ 23 XYRPUQ
TYPE_XYZYPR 24 XYZYPR X Y Z Yaw Pitch Roll
TYPE_XYZPR 36 User defined point
TYPE_XYZA 37 XYZA X Y Z A-angle
TYPE_XYZAB 38 XYZAB X Y Z A-angle B-angle
TYPE_YPR 50 YPR Yaw Pitch Roll
TYPE_PR 51 PR Pitch Roll
TYPE_R 52 R Roll
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