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Basics of Path Interpolation

2.13 Kinematic adaptation

TO Path Interpolation

Function Manual, 11/2010

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Figure 2-52 Articulated arm: Axis A1 zero position

The domain of the single A1 to A3 axes is limited to [-180°; 180°).

Coupled axes

If a positive coupling factor between two axes is specified, the transformation assumes that a

positive motion on the first axes leads to a negative motion on the second axis.

Configuration data for articulated arm kinematics

typeOfKinematics:

ARTICULATED_ARM

Articulated arm kinematics type

basicOffset.x Offset of the kinematic zero point relative to the

Cartesian zero point, x-coordinate

basicOffset.y Offset of the kinematic zero point relative to the

Cartesian zero point, y-coordinate

basicOffset.z Offset of the kinematic zero point relative to the

Cartesian zero point, z-coordinate

offsetA1 Offset of axis zero point axis A1 relative to zero position

of axis A1 in the transformation

distanceA1A2 A1-A2 separation

offsetA2 Offset of axis zero point axis A2 relative to zero position

of axis A2 in the transformation

distanceA2A3 A2 - A3 separation

offsetA3 Offset of axis zero point axis A3 relative to zero position

of axis A3 in the transformation

distanceA3Endpoint A3 - end point separation

linkCompensation.enableA2A3 Compensate A3 articulated joint positioning dependence

for A2

linkCompensation.factorA2A3 Factor

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