Kinematic chain of a group (P-CHAN-00449)

P-CHAN-00449

Definition of a kinematic chain for a group of a coupling kinematic

Description

Description of the sequence in which the partial kinematics within a coupling kinematic are stacked on top of each other. Index m = 0 points to the lowest kinematic.

Parameter

trafo[j].group[k].chain[l]

kin_step[i].trafo[j].group[k].chain[l] (multistep transformations)

Data type

STRING

Data range

Maximum of 16 characters

Dimension

----

Default value

*

Remarks

Each kinematic used here must be configured as an autonomous kinematic with a corresponding name.

Configuration example: Robot on a linear axis

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

trafo[1].id 45
trafo[1].name ROBOT

trafo[2].id 91
trafo[2].name LINEAR

* Note: The default value of variables is a blank string.