Adept Quattro s650H Robot
Adept Quattro s650H Robot User's Guide - Asimo.pl
Adept Quattro s650H Robot User's Guide - Asimo.pl
- No tags were found...
You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
<strong>Quattro</strong> Motions<br />
Containment Obstacles<br />
The work space of the robot is defined by an inclusion obstacle. This is done because,<br />
unlike other robots, joint limits are not meaningful in defining the work space. The V+<br />
version that supports the <strong>Adept</strong> <strong>Quattro</strong> <strong>s650H</strong> robot defines a cone-like shape as a<br />
containment obstacle. This is actually the work envelope. See Figure 7-2 on page 84. Other<br />
obstacles can be defined within this obstacle.<br />
Tool Flange Rotation Extremes<br />
This section addresses an ambiguity that can occur at extremes of the tool flange rotation.<br />
Note the following exceptions:<br />
• <strong>Quattro</strong> robots with tool flange rotation of less than 360° (e.g., 60° platforms) are<br />
not affected.<br />
• Manual control is not affected.<br />
• Program-controlled motions with destinations not near the extremes of tool flange<br />
rotation, or that start and stop on the same side (either + or -) of the center angle of<br />
rotation of the tool flange are not affected. This means that most of the range of<br />
tool rotation is not affected.<br />
Since there is no robot axis directly associated with the tool flange rotation, that rotation is<br />
specified by the roll component of the destination transformation.<br />
The V+ system considers the center angle of rotation of the tool flange to have a roll<br />
component of 180°. The roll component approaches 0° as the tool-rotation angle<br />
approaches ±180°.<br />
NOTE: The roll is -180° on one side of the center of rotation, and +180° on<br />
the other side. See Figure 5-7 on page 78.<br />
An ambiguity, however, exists from just beyond the extreme of tool rotation to 0.2° past<br />
that extreme, in both rotation directions. These are considered to be the “ambiguity<br />
zones” for tool rotation. Note that, for a tool that can rotate exactly 360°, the two<br />
ambiguity zones touch.<br />
If the total tool rotation is greater than 360°, the ambiguity zones shift by the amount that<br />
the total tool rotation exceeds 360°. This means that the 185° platform has ambiguity zones<br />
as follows:<br />
-5° > Zone1≥ – 5.2°<br />
+5° < Zone2 ≤ +5.2°<br />
In order to address this ambiguity, the following rule has been implemented in the<br />
motion-planning software:<br />
When a motion destination has a tool rotation ending within an “ambiguity<br />
zone”, the tool is permitted to rotate only in the direction of the shortest distance<br />
from the starting position to the destination position. But if that rotation would<br />
exceed the range of motion in that direction, the error “*Location out of range*” is<br />
reported and the motion is not performed.<br />
<strong>Adept</strong> <strong>Quattro</strong> <strong>s650H</strong> <strong>Robot</strong> User’s Guide, Rev A 77