教程分析德国kuka机器人en

1、I 20.11.2003 I College I SG I 1KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeOrientation control with LIN motionsVariableValueDescription$ORI_TYPE#CONSTANTThe orienta

2、tion remains constant during the CP motion. The programmed orientation is disregarded for the end point$ORI_TYPE = #CONSTANTI 20.11.2003 I College I SG I 2KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Cop

3、yright by KUKA Roboter GmbH CollegeOrientation control with LIN motionsVariableValueDescription$ORI_TYPE#VARDuring the CP motion the orientation changes continuously to the orientation of the end point$ORI_TYPE = #VARI 20.11.2003 I College I SG I 3KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofe

4、n, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeOrientation control with LIN motionsDuring the path motion, the orientation of the tool changes continuously from the start position to the end position. This is done by li

5、near transformation of the wrist axis angles. The problem of the wrist singularity can be avoided using this option as there is no orientation control by rotating and pivoting the tool direction.#JOINT$ORI_TYPEDescriptionValueVariableI 20.11.2003 I College I SG I 4KUKA Roboter GmbH, Hery-Park 3000,

6、D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeDuring the circular motion the orientation changes continuously to the orientation of the end point#VAR$ORI_TYPEThe orientation remains constant during the

7、 circular motion. The programmed orientation is disregarded for the end point#CONSTANT$ORI_TYPEPath-related orientation control during the circular motion#PATH$CIRC_TYPESpace-related orientation control during the circular motion#BASE$CIRC_TYPEDescriptionValueVariableVariables for orientation contro

8、l with circular motionsThe variable “$CIRC_TYPE” is meaningless in the case of a linear transformation of the wrist axis angles with “$ORI_TYPE = #JOINT”.I 20.11.2003 I College I SG I 5KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340,

9、 http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeOrientation control with circular motions$ORI_TYPE = #CONSTANT$CIRC_TYPE = #PATHI 20.11.2003 I College I SG I 6KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/ww

10、w.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeOrientation control with circular motions$ORI_TYPE = #VAR$CIRC_TYPE = #PATHI 20.11.2003 I College I SG I 7KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http:/www.kuka-roboter.de Copyright by KUKA Roboter GmbH CollegeOrientation control with circular motions$ORI_TYPE = #CONSTANT$CIRC_TYPE = #BASEI 20.11.2003 I College I SG I 8KUKA Roboter GmbH, Hery-Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906,