Robot on an XY linear unit

Example

example

Configuration with a group and several partial kinematics

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

Robot on an XY linear unit
Robot on an XY linear unit

trafo[0].id                     45
trafo[0].name                   ROBOT
trafo[0].base[2]                200000
trafo[0].param[0] ... ...

trafo[1].id                     91
trafo[1].name                   LINEAR
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                     210
trafo[2].group[0].name          LIN_ROB
trafo[2].group[0].chain[0]      LINEAR
trafo[2].group[0].chain[1]      ROBOT
trafo[2].group[0].move_prio[0]  LINEAR
trafo[2].group[0].move_prio[1]  ROBOT