Galileo Sphere Robot (GSR) Kinematics

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ROBOT KINEMATICS FOR GALILEO SPHERE ROBOT

GSR-SETUP.JPG

GSR-SIDE-DRAWINGS.PNG

GSR-FRONT-DRAWING.PNG


Robot definition as a group of axes with a predefined point type

The robot kinematics will be assigned to a new model type (15) with a XYZPR (x,y,z, pitch, roll) point type. The following line defines the GALILEO robot as a new system variable: 

Common Shared GALILEO As Group Axnm = A1 Axnm = A2 Axnm = A3 Axnm = A4  Axnm = A5 model = 15 of xyzpr

Kinematics of the robot

GSR0.PNG

GSR1.PNG

File:GSR-CONFIG.PRG

GSR-RSING.PNG

GSR-LSING.PNG

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