ISMPositionKinematics_Offset2.AxesToConfiguration_Offset (METH)¶

METHOD PUBLIC AxesToConfiguration_Offset

Computes the configuration from the axis positions plus an offset vector. The offset vector is given relative to the orientation of the flange.

The returned “offset configuration” is not necessarily the same as the configuration of the position kinematics. As an example, consider a scara2 robot and an offset vector that has a component in y-direction, which means an offset orthogonal to the second link. The second link together with the offset in y can be thought of as a modified scara robot, by replacing it with a direct link from the base of the second link to the flange:

                         second link
    first link___-- x----------------------
       ______/       \________            |
x-----/                       \______     |  offset in y-direction
                       modified      \____|
                          second link

This modified scara robot will, in general, have different configurations.

Note

If vOffset_TCP is zero, this method returns the same configuration as MC_KIN_REF_SM3.AxesToCartesian.

InOut:

Scope	Name	Type	Comment
Inout	`cd`	CONFIGDATA	Out: The serialized configuration data of the offset kinematics. This is not necesarily the same as the configuration of the original kinematics. Intended for use with ISMPositionKinematics_Offset.CartesianToAxes_Offset.
Inout Const	`a`	AXISPOS_REF	In: The position of all position axes
Inout Const	`vOffset_TCP`	`SMC_Vector3D`	In: The additional position offset between the TCP of the position kinematics and the offset TCP. This input is expressed in the TCP coordinate system of the position kinmatics.