Difference between revisions of "Palletizing Robot"
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In palletizing robot family there is a mechanical coupling between axes 2 and 3. The coupling matrix of the robot is defined by: | In palletizing robot family there is a mechanical coupling between axes 2 and 3. The coupling matrix of the robot is defined by: | ||
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<math> | <math> | ||
C = \begin{bmatrix} | C = \begin{bmatrix} | ||
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\end{bmatrix} | \end{bmatrix} | ||
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[[File:PALROB2.PNG | 700px]]<br> | [[File:PALROB2.PNG | 700px]]<br> | ||
Revision as of 12:00, 28 December 2015
Palletizing Robot
Robot Model
Coupling
In palletizing robot family there is a mechanical coupling between axes 2 and 3. The coupling matrix of the robot is defined by:
For palletizing robot family geometrical parameters are defined by:
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The above parameters of link matrix property of the robot must be filled-in in the robot’s setup file. In order that the system accepts the above setup the “configgroup” command must be executed. Note that only the above set of parameters affects the robot geometry, the rest of the link[][] and axis[][] values do not influence the robot geometry in any way and are not affected (changed) by configgroup command or any other robot command.
The rest of the DH parameters are predefined as follow and are automatically internally set by choosing the right group model.