MC_KIN_REF_SM3 (ITF)¶

注解

When implementing a new transformation, it is recommended to also implement the following interfaces:

• ISMKinematicWithConfigurations4 If the kinematics has multiple configurations or modes, such as the “elbowRight” mode of the scara transformations.

• ISMKinematicWithInfo2 If the kinematics contains rotary joints or wants to restrict the range of a joint.

• ISMKinematicWithInitialization If the kinematics has to be initialized before using it.

• ISMPositionKinematics_Offset2 If the kinematics can be combined with orientation kinematics (Required for the orientation interpolation in axis space.)

• ISMOrientationKinematics3 If it is an orientation kinematics that can be combined with position kinematics.

• ISMKinPeriodHandling If the kinematics uses rotary axes and allows to configure the period of the rotary axes in the configuration data.

• ISMKinematicsWithOrientationImage2 This interface allows to calculate the flange orientation given the programmed orientation of the flange. (There can be a difference between programmed and actual orientation if the kinematics does not have all three degrees of freedom for the orientation.) You don’t need to implement this interface for a position or orientation kinematics.

• ISMOrientationKinematicsWithOriImage2 This interface is required to define the orientation image, that is, the space of possible orientations, of the orientation kinematics. This interface is required by the coupled kinematics to calculate the flange orientation from the programmed orientation.