Industrial robots and cobots: Everything you need to know about your future co-worker by Michal Gurgul

Author:Michal Gurgul [Gurgul, Michal]
Language: eng
Format: azw3
ISBN: 9788395251306
Publisher: Michal Gurgul
Published: 2018-12-07T16:00:00+00:00

ABB example:

CONST robtarget P10:=[[2486.99,-192.55,197.08],[-0.000001,1,0,0],[0,-1,0,1],[9e+09,9e+09,9e+09,9e+09,9e+09,9e+09]]

KUKA example:

DECL E6POS XP10={X 445,Y 0,Z 810,A 180,B 0,C 180,S 2,T 10}

Fanuc example:

P[1] {

GP1 :

UF : 0, UT : 0, NUT 000

X = 440.000 mm, Y = 0.000 mm, Z = 245.000 mm,

W = 180.000 deg, P = 0.000 deg, R = 0.000 deg

};

4.3 Establishing robot’s position

Robot’s control system contains information regarding mathematical beginning of the mechanical unit (robot’s base) and knows lengths of respective arms and angular position of all servomotors. The controller, depending on the selected controlling mode (joint coordinate system or Cartesian coordinate system) needs to solve one of two equations in order for the mechanical unit’s movement to be possible. These equations are related to forward kinematics (joint coordinate system) or inverse kinematics problems (Cartesian coordinate system).

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