rpoint

Define robot-positions with coordinates and motion-properties

Contents

Last date of modification : 2010/10/18

Syntax

Inputs Description VALUE
'Position-type' cartesian
axial		 'pose' [DEFAULT]
'axis'
'RELATION' absolute
relative		 'abs' [DEFAULT]
'rel'
'INTERPOLATION'joint interpolation
linear interpolation
circle interpolation		 'ptp' [DEFAULT]
'lin'
'circ'


[Optional]
Description 'PROPERTY' VALUE
speed[%] of the axes 'speed' 1...100
velocity[mm/s] on the path 'mmps'1...1000
acceleration[%] of the axes'acceleration' 1...100
deceleration[%] of the axes'deceleration' 1...100
accuracy[mm] in continues path mode 'accuracy' 1...100
waiting time at the position[sec] 'wait' 0.001...99999.999
turning ON or OFF up to 6 signals on the robot-controller at the beginning of the motion 'signal' [CHANNEL,...]
CHANNEL > 0 : ON
CHANNEL < 0 : OFF
turning ON a signal for a given period of time on the robot-controller at the beginning of the motion 'pulse' [CHANNEL,TIME]
TIME is 0.2, if not given

Description

rpoint defines positions in the working space of the robot, including motion-properties.

Cartesian positions are defined by the keyword 'pose'. These consist of the X-, Y- and Z-coordinates and the three Euler-angles O, A and T. This transformation values describe the position of the Tool-Center-Point relativ to the BASE-System (see rset) .

Axial joint-positions are created by 6 angle-components and the keyword 'axis'. 'pose' is DEFAULT and needs not to be specified. Furthermore you can decide if the positions are absolute coordinates in the working space with 'abs', or relative transormation values to the current position with the keyword 'rel'. 'abs' is DEFAULT.

rpoint is able to create one or more positions at the same time. Every coordinate-component has to consist of the same number of elements alternatively of one element. If one component consists of one element, this element is copied to all other positions created by the call of rpoint. Additionally to the coordinates, properties like interpolation, speed and signal-outputs can be declared.

rpoint returns a data-structure, which is needed by functions like rmove or rdisp.

The data-structure contains the complete information for a command, sendable to the robot.

Execution-order of the command on the robot-controller

  1. Switching signals (if declared)
  2. Making a pulse (if declared)
  3. Setting up the speed[%] for the next motions (if declared)
  4. Setting up the velocity[mm/s] for the next motions (if declared)
  5. Setting up the acceleration[%] for the next motions (if declared)
  6. Setting up the deceleration[%] for the next motions (if declared)
  7. Setting up the accuracy[mm] for the next motions (if declared)
  8. Waiting till previous motion is finished[Execution blockes]
  9. Start new motion
  10. Waiting a period of time (if declared)[Execution blockes]

Examples

Creation of different single positions

%absolute cartesian position, interpolation = PTP and speed = 50 %
P1 = rpoint(10,20,30,0,0,0,'pose','ptp','speed',50);
%Axial relative transformation of the first 3 axes with 45 degrees
P2 = rpoint(45,45,45,0,0,0,'axis','rel');

Creation of more than one positions with one call

%Creation of 11 calculated positions and saving these in P.
%For all positions the Euler-angles are the same.
x = 0:10:100; y=2*x; z=1.5*x;
P = rpoint( x,y,z,0,0,0,'speed',10);

Creation of a position with additional signals and pulse

%At the beginning of the motion to position P1 the channels 9 has to be set OFF
%and the channel 10 has to be set ON (Maybe for gripper-action)
P1 = rpoint( 100,100,100,0,0,0,'signal',[ -9, +10]);
%At the beginning of the motion to position P2 the channel 20 has to be set ON for 5 seconds
%(Maybe for a blinking light)
P2 = rpoint( 10,20,30,45,90,45,'pulse', [20, 5]) ;

Back to the Robotic-Toolbox-Index

Robotic-Toolbox (w) by Michael Christern & Artur Schmidt / Research Group Computational Engineering and Automation / University of Applied Sciences Wismar / Germany 2010


Published with MATLAB® 7.11