Robot on an XY linear unit

Example

Configuration with a group and several partial kinematics

This configuration requires a group with the kinematic types 45 and 91. The linear unit is produced by Universal Kinematic 91 with two axes.

trafo[0].id                     1
trafo[0].type                   45
trafo[0].base[2]                200000
trafo[0].param[0] …

trafo[1].id                     2
trafo[1].type                   91
trafo[1].zero_orientation[0]    0.0
trafo[1].zero_orientation[1]    0.0
trafo[1].zero_orientation[2]    1.0
trafo[1].zero_position[0]       0.0
trafo[1].zero_position[1]       0.0
trafo[1].zero_position[2]       0.0
trafo[1].number_of_axes         2
trafo[1].chain[0]               0
trafo[1].chain[1]               1
trafo[1].axis[0].type           1
trafo[1].axis[0].orientation[0] 1.0
trafo[1].axis[0].orientation[1] 0.0
trafo[1].axis[0].orientation[2] 0.0
trafo[1].axis[1].type           1
trafo[1].axis[1].orientation[0] 0.0
trafo[1].axis[1].orientation[1] 1.0
trafo[1].axis[1].orientation[2] 0.0
trafo[1].programming_mode       12
trafo[1].rtcp                   1
trafo[1].base[2]                100000

trafo[2].id                     3
trafo[2].type                   210
trafo[2].group[0].id            100
trafo[2].group[0].chain[0]      2
trafo[2].group[0].chain[1]      1
trafo[2].group[0].move_prio[0]  2
trafo[2].group[0].move_prio[1]  1