Payloads
This page gives an overview over the available payload properties, their uses and meaning.
Contents
Rotational Axes
Dynamic Model 1 - simple rotary axis
The relevant payload property for this model is:
- payloadInertia - the inertia of the payload in the axis direction relative to the axis location - .
Dynamic Model 2 - horizontal crank-arm axis
The relevant payload property for this model is:
- payloadInertia - the inertia of the payload in the axis direction relative to the axis location - .
Dynamic Model 3 - vertical crank-arm axis
The relevant payload properties for this model are:
- payloadMassRMassG - the payload mass times the distance to the center of mass of the payload times gravity - .
- payloadMassRMassSqIxx - the inertia of the payload in the axis direction relative to the axis location - .
Linear Axes
Dynamic Model 1 - horizontal axis
The relevant payload property for this model is:
- payloadMass - the mass of the payload - .
Dynamic Model 2 - vertical or tilted axis
The relevant payload property for this model is:
- payloadMass - the mass of the payload - .
Dynamic Model 3 - vertical axis with a spring
The relevant payload property for this model is:
- payloadMass - the mass of the payload - .
Scara Robots
Dynamic Model 1
The relevant payload properties for this model are:
- payloadMass - the mass of the payload - .
- payloadInertia - the inertia of the payload in the 4th axis direction relative to the 4th axis location - .</math>.
Dynamic Model 2
The relevant payload properties for this model are:
- payloadMass - the mass of the payload - .
- payloadInertia - the inertia of the payload in the 4th axis direction relative to the 4th axis location - .</math>.
Dynamic Model 3
The relevant payload properties for this model are:
- payloadMass - the mass of the payload - .
- payloadInertia - the inertia of the payload in the 4th axis direction relative to the 4th axis location - .</math>.
- payloadLx - The distance to the center of mass from the 4th axis in the x direction - .
When using identification with this model, all of the payload parameters can be found.
Dynamic Model 4
This model is used in identification process in order to identify the payloadMass parameter only, by moving only joint number 3.
The relevant payload property for this model is:
- payloadMass - the mass of the payload - .
Dynamic Model 5
This model is used in identification process in order to identify the payloadInertia and payloadLx parameters, by moving only joint number 4 and very small movements in joints 1 and 2.
The relevant payload properties for this model are:
- payloadInertia - the inertia of the payload in the 4th axis direction relative to the 4th axis location - .</math>.
- payloadLx - The distance to the center of mass from the 4th axis in the x direction - .