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.
注解
If
vOffset_TCP
is zero, this method returns the same configuration as MC_KIN_REF_SM3.AxesToCartesian.
- InOut:
Scope
Name
Type
Comment
Inout
cd
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
In: The position of all position axes
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.