rmove
Moving a robot
Contents
Last date of modification : 2010/10/18
Syntax
- ID = rmove( HANDLE, POS , [’APPROACH’,DISTANCE],[ ’PROPERTY’, VALUE ])
- ID = rmove( HANDLE, ’MOTIONTYPE’, ’PARAMETER’, VALUE)
| Inputs | Description | VALUE |
| HANDLE | robot-identifier | integer > 0 given by robot |
| POS | position-data-structure | structure given by rpoint |
[Optional]
| Description | 'APPROACH' | DISTANCE |
| Approaching position in joint interpolated motion along the Z-axis of the TOOL-system [mm] | 'jappro' | 1...9999 |
| Approaching position in linear interpolated motion along the Z-axis of the TOOL-system [mm] | 'lappro' | 1...9999 |
[Optional : 'PROPERTY' and VALUE : see rpoint]
| Description | 'MOTIONTYPE' | 'PARAMETER' |
| Motion to homeposition 1 | 'home' | --- |
| Motion to homeposition 2 | 'home2' | --- |
| Relative motion in BASE-system | 'draw' [DEFAULT] | Cartesian values |
| Relative motion in TOOL-system | 'tdraw' | Cartesian value |
| Relative joint motion | 'drive' | Axial Values |
| Withdrawing form current position in joint interpolated motion along the Z-axis of the TOOL-system [mm] | 'jdepart' | 1...9999 |
| Withdrawing form current position in linear interpolated motion along the Z-axis of the TOOL-system [mm] | 'ldepart' | 1...9999 |
| Description | 'PARAMETER' | VALUE |
| Cartesian values [mm and deg(°)] | 'x', 'y', 'z' 'phix' 'phiy' 'phiz' | +-0.000...+-9999.999 |
| Axial values [deg(°)] | 'j1' 'j2' 'j3' 'j4' 'j5' 'j6' | +-0.000...+-9999.999 |
Description
rmove sends commands to the robot to start a motion to one or more positions. These positions can be given the function as arguments created by rpoint. The motion-properties saved in the data-structures of the positions can be ignored and substituted for one new property.
That means, this new subsituted property effects all the positions given to rmove. So the the speed and the other motion-properties are setted up only once before the motions starts. That also means, that substituded signals and pulses are also executed once. For information about the execution-order of the command on the robot-controller see rpoint .
Furthermore it is possible to make relative transformations of single axes and cartesian positions.
rmove returns an ID-vector, which is needed to identify the command, given the robot.
Examples
Motion ahead and back
%Loading of the position-data P from file 'Points.mat' load Points P; %Moving the robot to all positions rmove( h, P); %moving the robot back and waiting at every position for 1.5 seconds rmove( h, P(end:-1:1), 'wait', 1.5);
Approaching and withdrawing
%Approaching 100 mm above P and waiting for 2 seconds rmove( h, P, 'jappro', 100, 'wait', 2); %Finishing the motion to p with reduced speed rmove( h, P, 'speed', 10); %Withdrawing from P rmove( h, 'ldepart', 200);
Moving to the home-positions
%Moving to home-position 1 rmove( h, 'home'); %Moving to home-position 2 rmove( h, 'home2');
Moving relative
%Relative motion in the BASE-system rmove( h, 'draw', 'x', 10, 'y', 20); %Turning the first axis with 45 degrees rmove( h, 'drive', 'j1', 45);
Manipulating motion-properties
%Definition of the position with its motion-properties P1 = rpoint(10,20,30,0,0,0,'signal',[-1 3],'pulse',[1 0.5],'wait',5); %Motion to P1 rmove( h, P1); %Motion to P1 , but no signal, no pulse and no waiting-time rmove( h, P1, 'signal', [],'pulse', [], 'wait', 0);
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Robotic-Toolbox (w) by Michael Christern & Artur Schmidt / Research Group Computational Engineering and Automation / University of Applied Sciences Wismar / Germany 2010