Component: Kinematics Arm (Mechatronics)

Author	Matrix TSL
Version	1.0
Category	Mechatronics

Kinematics Arm component

Demonstrates the principals of kinematics using a user configurable robot arm. Provides full simulation of the movements of the arm and the calculations of the axis positions and rotations.

Component Source Code

Please click here to download the component source project: FC_Comp_Source_KinematicsArm.fcfx

Please click here to view the component source code (Beta): FC_Comp_Source_KinematicsArm.fcfx

Detailed description

No detailed description exists yet for this component

Examples

Example program showing a six axis robot arm with a gripper, controlled using sliders on the 2d panel.

Kinematics Arm Demo

Macro reference

ForwardKinematics

	ForwardKinematics
Uses the current joint angles and positions to calculate the XYZ and rotation of each of the subsequent linking joints.
- VOID	Return

GetJointPosition

	GetJointPosition
Gets the XYZ position of the selected joint axis.
- BYTE	Axis
Range: 0 to NumAxis-1 where NumAxis-1 = end tool location
- FLOAT	XYZ
- VOID	Return

GetJointRotation

	GetJointRotation
Gets the XYZ rotation of the selected joint axis.
- BYTE	Axis
Range: 0 to NumAxis-1 where NumAxis-1 = end tool location
- FLOAT	XYZ
- VOID	Return

SetGripper

	SetGripper
Open or close the gripper
- BYTE	Position
0=Fully Closed, 255=Fully Open
- VOID	Return

SetJoint

	SetJoint
Sets the angle or translation of the specified joint axis.
- BYTE	Axis
Range: 0 to NumAxis -1
- FLOAT	Value
Angle or dimension
- BOOL	Type
0=Absolute, 1=Incremental
- VOID	Return

Property reference

	Properties
	Axis
	Number of axis
	Axis 0
	Axis Type
Sets the movement type of the axis
	Colour
Specifies the fill colour of the shape
	DH Parameters
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	Axis 1
	Axis Type
Sets the movement type of the axis
	Colour
Specifies the fill colour of the shape
	DH Parameters
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	Axis 2
	Axis Type
Sets the movement type of the axis
	Colour
Specifies the fill colour of the shape
	DH Parameters
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	Axis 3
	Axis Type
Sets the movement type of the axis
	Colour
Specifies the fill colour of the shape
	DH Parameters
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	Axis 4
	Axis Type
Sets the movement type of the axis
	Colour
Specifies the fill colour of the shape
	DH Parameters
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	Axis 5
	Axis Type
Sets the movement type of the axis
	Colour
Specifies the fill colour of the shape
	DH Parameters
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	d
the distance between the previous x-axis and the current x-axis, along the previous z-axis
	Theta
the angle around the z-axis between the previous x-axis and the current x-axis
	a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis
	alpha
the angle around the common normal to between the previous z-axis and current z-axis
	Gripper
	Show Gripper
	Colour
	Link Mechanics
	Show Links
Determines if the links between axis are shown.
	Link Colour