9.11 ARM Control
9-59
Center of gravity position : xg, yg, zg (Unit : mm)
The center of gravity position of the installed tool is set as the position in the flange coordi-
nates.
It does not care by setting a rough value because it is usually difficult to get a strict center of
gravity position. Presume and set a center of gravity position roughly from outline of the tool.
Set the value when the center of gravity position of the installed tool is clear from specifica-
tions etc.
moment of inertia at the center of gravity: lx, ly, lz (Unit : kgm
2
)
It is an moment of inertia of the tool at the center of gravity position.
The value is calculated around the each axis of the coordinates which is in parallel to the
flange coordinates and which home position is the center of gravity position of the tool.
Set a little large value though it does not care by a rough value.
This setting is used to calculate the moment of inertia which loads to each axis of the manipu-
lator. However, the moment of inertia at the center of gravity need not usually set because
this data is small enough to the moment of inertia calculated from weight and the center of
gravity position.
Only when the moment of inertia of the tool is large (The size of the tool is, as a standard, in
case of about twice or more the distance from the flange to the center of gravity position), this
setting is needed.
Rough value of the moment of inertia at the center of gravity can be calculated by followings
methods.
- Method to approximate the entire tool in hexahedron or cylinder.
- Method to calculate from each weight and center of gravity position of plural mass.
Refer to the following setting examples for details.
The size of the tool is not too big.
Setting the moment of inertia at center
of gravity is not necessary.
The size of the tool is big enough.
Setting the moment of inertia at center
of gravity is necessary.
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