ISMOrientationKinematicsWithOriImage (ITF) ¶ INTERFACE ISMOrientationKinematicsWithOriImage This interface computes the actual flange orientation from the programmed / desired flange orientation of an orientation kinematics. For orientation kinematics with three degrees of freedom, there is no difference between programmed and actual flange orientation. This interface computes all the possible orientations that this orientation kinematics may generate, given the programmed orienation. It is required to support different tools (see SMC_GroupSetTool). Only when the actual flange orientation can be computed, the tool offset can be correctly compensated for. See ISMOrientationKinematicsWithOriImage2 for an extended interface which should be implemented instead. Methods: GetOrientationImage Structure: GetOrientationImage (Method)
ISMOrientationKinematicsWithOriImage.GetOrientationImage (METH) ¶ METHOD GetOrientationImage Returns the space of achievable orientations of the orientation kinematics, given the programmed orientation. InOut: Scope Name Type Comment Inout oriInfo OrientationSpace Information about the possible orientations generated by the orientation kinematics. csOriKin MCS_OR_FLANGE Whether the orientation info is defined in MCS or in the flange coordinate system of the position kinematics on which the orientation kinematics is mounted. For example, Kin_CAxis can provide the orientation in the flange coordinate system, while Kin_Wrist2 can provide the orientation in the MCS. bActive BOOL Whether the degrees of freedom of oriInfo are active (TRUE) or passive (FALSE). As an example, Kin_CAxis has one _active_ degree of freedom, as the rotation axis C can be used to rotate to any desired angle. In contrast, Kin_Wrist2 has one _passive_ degree of freedom. As the direction of the tool (z-axis) is given by the programmed orientation, the direction of the x- and y-axis are fixed but yet unknown (until the orientation of the base coordinate system has been computed). Inout Const mR_flange SMC_Matrix3 Programmed / desired orientation of the flange of the orientation kinematics, expressed in the MCS.
ISMOrientationKinematicsWithOriImage2 (ITF) ¶ INTERFACE ISMOrientationKinematicsWithOriImage2 This interface replaces ISMOrientationKinematicsWithOriImage . Methods: GetOrientationImageTotal GetOrientationImageWithOri Structure: GetOrientationImageTotal (Method) GetOrientationImageWithOri (Method)
ISMOrientationKinematicsWithOriImage2.GetOrientationImageTotal (METH) ¶ METHOD GetOrientationImageTotal : SMC_ERROR Returns the space of achievable orientations of the orientation kinematics. In contrast to GetOrientationImageWithOri , this method returns the orientation image without knowledge of a specific programmed orientation. Thus, it is neccessarily less specific. For example, for Kin_Wrist2, this method will return dof=3, while GetOrientationImageWithOri returns dof=1. InOut: Scope Name Type Comment Return GetOrientationImageTotal SMC_ERROR Inout oriInfo OrientationSpace Information about the possible orientations generated by the orientation kinematics. Always relative to the base coordinate system of the kinematics. Inout Const oriInfoBase OrientationSpace The orientation image of the base coordinate system of the orientation kinematics. (If used for coupled kinematics, this is the orientation image that is returned by the position kinematics.)
ISMOrientationKinematicsWithOriImage2.GetOrientationImageWithOri (METH) ¶ METHOD GetOrientationImageWithOri : SMC_ERROR Returns the space of achievable orientations of the orientation kinematics, given the programmed orientation. It supersedes ISMOrientationKinematicsWithOriImage.GetOrientationImage and receives the orientation image of the position kinematics as an additional input. InOut: Scope Name Type Comment Return GetOrientationImageWithOri SMC_ERROR Inout oriInfo OrientationSpace Information about the possible orientations generated by the orientation kinematics. csOriKin MCS_OR_FLANGE Whether the orientation info is defined in MCS or in the flange coordinate system of the position kinematics on which the orientation kinematics is mounted. For example, Kin_CAxis can provide the orientation in the flange coordinate system, while Kin_Wrist2 can provide the orientation in the MCS. bActive BOOL Whether the degrees of freedom of oriInfo are active (TRUE) or passive (FALSE). As an example, Kin_CAxis has one _active_ degree of freedom, as the rotation axis C can be used to rotate to any desired angle. In contrast, Kin_Wrist2 has one _passive_ degree of freedom. As the direction of the tool (z-axis) is given by the programmed orientation, the direction of the x- and y-axis are fixed but yet unknown (until the orientation of the base coordinate system has been computed). Inout Const mR_flange SMC_Matrix3 Programmed / desired orientation of the flange of the orientation kinematics, expressed in the MCS. aRef AXISPOS_REF The reference position of all axes. cd CONFIGDATA Programmed / desired configuration. oriInfoBase OrientationSpace The orientation image of the base coordinate system of the orientation kinematics. (If used for coupled kinematics, this is the orientation image that is returned by the position kinematics.)
ISMPositionKinematics (ITF) ¶ INTERFACE ISMPositionKinematics EXTENDS MC_KIN_REF_SM3 Represents a kinematic transformation that can be combined with an orientation kinematics ( ISMOrientationKinematics ). The last coordinate system of a position kinematics is called the flange coordinate system. It is at this location where a tool or another orientation kinematics can be attached. Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: AxesToOrientation AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 Structure: AxesToOrientation (Method)
ISMPositionKinematics.AxesToOrientation (METH) ¶ METHOD AxesToOrientation : SMC_ERROR Computes the orientation of the flange coordinate system from axis positions. Returns whether the computation was successful. InOut: Scope Name Type Comment Return AxesToOrientation SMC_ERROR Inout m SMC_Matrix3 Out: The orientation of the flange coordinate system Inout Const a AXISPOS_REF In: The position of all position axes
Kin_CAxis.GetOrientationImage (METH) ¶ METHOD GetOrientationImage InOut: Scope Name Type Inout oriInfo OrientationSpace csOriKin MCS_OR_FLANGE bActive BOOL Inout Const mR_flange SMC_Matrix3
Kin_CAxis.GetPeriods (METH) ¶ METHOD GetPeriods InOut: Scope Name Type Inout Const cd CONFIGDATA Inout aPeriods ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF DINT
Kin_CAxis.GetPositionFromOrientation (METH) ¶ METHOD GetPositionFromOrientation : SMC_ERROR InOut: Scope Name Type Return GetPositionFromOrientation SMC_ERROR Input mR SMC_Matrix3 Inout v SMC_Vector3D