ISMKinematicsWithOrientationImage (ITF)¶
INTERFACE ISMKinematicsWithOrientationImage
This interface computes the actual flange orientation from the programmed / desired flange orientation. For kinematics with three degrees of freedom for the orientation, there is no difference between programmed and actual flange orientation. For kinematics with less than three degrees of freedom for the orientation, some kind of projection from the programmed orientation to the closest achievable orientation is computed.
This interface is required to support different tools (see SMC_GroupSetTool). Only when the actual flange orientation can be computed, the tool offset can be correctly compensated for.
Some remarks on the usage of this interface, which may help to provide the context for why it is needed: Each tool is defined by the position offset of the TCP from the flange origin and the relative orientation between the TCP and the flange coordinate system. This interface can be used to get all the possible orientations of the flange coordinate system with respect to the MCS. The interface is used to compute whether a given tool offset is compatible with the kinematics, and for the inverse transformation of the kinematics. (See ISMKinematicsWithOrientationImage.GetFlangeOrientationImage for
In the case of coupled kinematics, the position kinematics should implement the interface ISMPositionKinematics2 and the orientation kinematics should implement ISMOrientationKinematicsWithOriImage2 each containing their respective GetOrientationImage methods. The coupled kinematics Kin_Coupled itself already contains an implementation of ISMKinematicsWithOrientationImage.
See ISMOrientationKinematicsWithOriImage2 for an extended interface which should be implemented isntead.
Methods:
Structure: