KUKA 工业机器人用来描述坐标系的数据类型是 Frame,它的结构以及意义又如何呢?
以工具定义为例,数据类型为 FRAME
DECL FRAME TOOL_DATA[16] TOOL_DATA[1]={X 79.7308,Y 0.0838,Z 78.4448,A 0.0,B 0.0,C 0.0}
可以看到对象 TOOL_DATA[1] 被赋值为XYZABC,参考坐标系为法兰盘坐标系 $FLANGE。
- XYZ:当前坐标系(工具坐标系)相对于参考坐标系(法兰盘坐标系)的位置
- ABC:当前坐标系(工具坐标系)相对于参考坐标系(法兰盘坐标系)中的姿态
扩展阅读:
- KUKA工业机器人位姿数据类型 – E6POS
http://davidrobot.com/2015/07/kuka_robot_e6pos.html - Multiple set of {A,B,C} for same orientation and position – Robotforum Support for Robotprogrammer and Users
http://www.robot-forum.com/robotforum/kuka-robot-forum/multiple-set-of-%28a-b-c%29-for-same-orientation-and-position/msg67977/#msg67977 - ABC 3 point BASE measurement. How does algorithm works – Robotforum Support for Robotprogrammer and Users
http://www.robot-forum.com/robotforum/kuka-robot-forum/abc-3-point-base-measurement-how-does-algorithm-works/msg67183/#msg67183 - Euler angles
https://en.wikipedia.org/wiki/Euler_angles