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.