Difference between revisions of "MC-Basic:robot.ARMFBK"
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Returns the actual (current) robot configuration. In '''SCARA ''' robots each Cartesian position can be obtained by two different angles of the second joint. These two solutions represent two solutions of the robots inverse kinematics equations, or in other words the robot configurations. Usually they are called “lefty” and “righty” robot configurations. This flag indicates which of them is taken. Also, when this flag is different from the commanded one (armcmd) no straight line motion can be made. | Returns the actual (current) robot configuration. In '''SCARA ''' robots each Cartesian position can be obtained by two different angles of the second joint. These two solutions represent two solutions of the robots inverse kinematics equations, or in other words the robot configurations. Usually they are called “lefty” and “righty” robot configurations. This flag indicates which of them is taken. Also, when this flag is different from the commanded one (armcmd) no straight line motion can be made. | ||
| − | For example in SCARA kinematic model this flag is computed according to the | + | For example in SCARA kinematic model this flag is computed according to the sign of position of the second joint.<br> |
j2.pfb > 0 -> Lefty<br> | j2.pfb > 0 -> Lefty<br> | ||
j2.pfb = 0 -> Undefined(Auto)<br> | j2.pfb = 0 -> Undefined(Auto)<br> | ||
Revision as of 12:26, 6 September 2015
Returns the actual (current) robot configuration. In SCARA robots each Cartesian position can be obtained by two different angles of the second joint. These two solutions represent two solutions of the robots inverse kinematics equations, or in other words the robot configurations. Usually they are called “lefty” and “righty” robot configurations. This flag indicates which of them is taken. Also, when this flag is different from the commanded one (armcmd) no straight line motion can be made.
For example in SCARA kinematic model this flag is computed according to the sign of position of the second joint.
j2.pfb > 0 -> Lefty
j2.pfb = 0 -> Undefined(Auto)
j2.pfb < 0 -> Righty
Short form
<ROBOT>.afbk
Syntax
?<ROBOT>.armfbk
Type
Long
Range
0 (undefined)/ 1(lefty)/ 2 (Righty)
Scope
Configuration, Task, Terminal
Limitations
Read Only, Modal Only
Examples
?scara.armfbk