Difference between revisions of "AXY:MC-Basic:group.DYNAMICMODEL"
| Line 5: | Line 5: | ||
|AVAILABILITY= | |AVAILABILITY= | ||
| − | + | AMCS 4.7.10 | |
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Dynamic model of a robot. | + | Dynamic model of a robot. |
| + | |||
| + | The dynamic model calculates needed torques/forces for each joint of a robot during a commanded motion. | ||
| + | The torques are then sent to the drives as "additional torque command" (torque feed forward), which helps to improve the motion performance. | ||
|TYPE= | |TYPE= | ||
| Line 14: | Line 17: | ||
|RANGE= | |RANGE= | ||
| − | * 0 | + | * 0 - No dynamic model |
| + | |||
| + | Available dynamic models for robots: | ||
| + | <table border="1" cellpadding="5"> | ||
| + | <tr> | ||
| + | <th>DynamicModel</th> | ||
| + | <th>1</th> | ||
| + | </tr> | ||
| + | |||
| + | <tr> | ||
| + | <th>TraverseArm</th> | ||
| + | <td>torque feed forward</td> | ||
| + | </tr> | ||
| + | |||
| + | <tr> | ||
| + | <th>Delta</th> | ||
| + | <td>torque feed forward</td> | ||
| + | </tr> | ||
| + | </table> | ||
|UNITS= | |UNITS= | ||
| Line 29: | Line 50: | ||
|EXAMPLE= | |EXAMPLE= | ||
|SEE ALSO= | |SEE ALSO= | ||
| + | * [[Control:Assist:DYNAMIC_MODEL(Group)]] | ||
| + | |||
}} | }} | ||
[[Category:AXY:IDM properties]] | [[Category:AXY:IDM properties]] | ||
Revision as of 09:54, 18 August 2011
Dynamic model of a robot.
The dynamic model calculates needed torques/forces for each joint of a robot during a commanded motion. The torques are then sent to the drives as "additional torque command" (torque feed forward), which helps to improve the motion performance.
Syntax
<robot>.DynamicModel = <expression>
Availability
AMCS 4.7.10
Type
Long
Range
- 0 - No dynamic model
Available dynamic models for robots:
| DynamicModel | 1 |
|---|---|
| TraverseArm | torque feed forward |
| Delta | torque feed forward |
Default
0 (No dynamic model)
Scope
Task and Terminal
Limitations
- R/W
- Modal only