copyright © 2007 rockwell automation, inc. all rights reserved. kinematics geometry extensions for...
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Copyright © 2007 Rockwell Automation, Inc. All rights reserved.
Kinematics geometry extensions for delta robots - RSLogix 5000 V16.03
Taking control integration one step further
Copyright © 2007 Rockwell Automation, Inc. All rights reserved. 2
CartesianCartesian Joint SpaceJoint Space
What is Kinematics ?
• Logix supports a variety of move types in Cartesian coordinates
– Pt-pt/TCAM– Gearing/PCAM– Linear/circular interpolation
• Kinematics allows motion commands in World coordinates (typically Cartesian coordinate space) to be transformed to/from Joint space
– Inverse Kinematics – Cartesian to Joint– Forward Kinematics – Joint to Cartesian
• Kinematics facilitates control of non-linear mechanical systems
– Articulated arm (Joint/Link) robots– Delta robots– SCARA robots
XX
YY
ZZ
Cartesian CoordinatesCartesian Coordinates
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Logix Kinematics
• Eliminates need for complex, application program based approach for robot control
– Native, Firmware based solution • High Performance
– Firmware based transforms eliminate CPU bandwidth consuming application code
• Easy to use– Graphical Kinematics geometry configuration– Kinematic motion instructions
• Support for multiple robot geometries• ControlLogix and GuardLogix L6x support
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Programming - Define Robot Geometry
Specify Cartesian axes
(Typically Virtual axes)
Cartesian Coordinate System• Typically virtual axes
Specify link length
Specify zero angle
orientation
Specify kinematics geometry
Specify joint axes
Robot Joint Coordinate System• Physical robot axes• Select appropriate geometry
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Programming - Enable Transform
• Initiates a coordinate transformation between two coordinate systems• Once the MCT is active, the user can move axes in Joint positions based upon
Cartesian positions or move Cartesian positions based on the Joint positions– Typically scenario is commanded motion on virtual axes in the base coordinate system is
transformed into motion on the physical axes in the joint coordinate systemSpecifies source
coordinate system for
the transformation
Specifies targetcoordinate system for
the transformation
Specifies the translation vector of the Cartesian
coordinate system
Specifies the orientation vector of the Cartesian
coordinate system
Cartesian Coordinate SystemCartesian Coordinate SystemArticulated Coordinate SystemArticulated Coordinate System
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Translation and Rotation
• MCT instruction also allows dynamic path profile translation and rotation in 2D/3D
• Can be used independent of Kinematics
• Allows users to easily shift and rotate (orient) the path profile in space
• Typical applications are glue-dispensing, material cutting, HBot geometry
x1
x2
O
Profile rotation(orientation)
x1
x2
O
x1
x2
Profile translation
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Programming - Execute Move Commands
• Use any of the move instructions in RSLogix 5000– MAM, MAJ, MAH, MAG, MCCM, MCLM, MAPC
• Moves executed on the virtual axes in the Cartesian Coordinate system are transformed into joint axis motion in the articulated coordinate system
Cartesian Coordinate SystemCartesian Coordinate System
Articulated Coordinate SystemArticulated Coordinate System
MCT enabled transformsMCT enabled transforms
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Transform Position Instruction
• Transforms a specified position from the source coordinate system into the target coordinate system and vice versa
– Normally used to calculate the Cartesian position from a given joint position (Forward kinematics)– Can be used for recovering after power cycle and/or teaching
• Allows for translational as well as orientation offsets between the two systems
Specifies sourcecoordinate system for
the transformation
Specifies target coordinate system for
the transformation
Tag name of the instruction
Specifies the translation vector of the Cartesian
coordinate system
Specifies the transform direction
Specifies the reference position
(source/target)
Specifies the transform position
(source/target)
Specifies the orientation vector of the Cartesian
coordinate system
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Teaching
• Teaching capability can be easily integrated into HMI station
• Leverage built-in functionality supported by MCTP instruction
Example w/RSView Studio
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Kinematics Geometries
SCARA Independent
Delta Delta SCARA
CartesianArticulated Dependent Articulated Independent
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Kinematics Geometries – H-Bot
• Because of its mechanical configuration, programmingthis robot in Cartesian coordinates can be complicated
– Rotating one motor causes the axis to move at a 45° angle
• By using the orientation operand in the MCT instruction makes it easy to address H-Bot geometry
• Can be used on both horizontal and vertical configurations
M M M M
M M M M
Y
X
Ym Xm
W
Xm = XcosW+YsinWYm = -XsinW+YcosW
M M
Lift Arm -moves
verticallyonly
Gantry -moves
horizontallyonly
Timing Belt- fixed atone end
ServoMotors -
connectedby a sinlgetiming belt
M M M M
M M M M
Y
X
Ym Xm
W
Xm = XcosW+YsinWYm = -XsinW+YcosW
M M
Lift Arm -moves
verticallyonly
Gantry -moves
horizontallyonly
Timing Belt- fixed atone end
ServoMotors -
connectedby a sinlgetiming belt
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Supported Robot Geometry Examples
Delta 3 Axes Delta 2 Axes Delta SCARA
SCARA Articulated Independent Articulated Independent Articulated Dependent
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Dedicated Robot Controller - Closed Architecture
Issues with Robot Controller Closed Architecture• Separate programming/configuration software• Line controller to robot controller synchronization logic
adds complexity, limits performance• Multiple hardware platforms and networks increase cost
and panel space• Inconsistent safety solutions• Robot controllers often employ proprietary technology• Limited selection of vision systems
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Logix - Open, Integrated Robot Control Architecture
Extends the Integrated Architecture Theme – eliminate proprietary robot control
Advantages of Open, Integrated Approach• Single program, one programming package, common
programming language• No need for complex synchronization logic • Common hardware platform and networks decrease cost
and panel space• Consistent safety solutions• Open, IEC 61131-3 technology….ladder programming• Easier to obtain certifications – e.g. CFR21
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Logix – Open, Integrated Architecture
PLC
SW
PLC
Motion
SWMotion
Controller
Safety
SWSafety
Controller
Robot
SW
RobotController
Integrated Motion,Safety and Kinematics
Integrated Motion and Safety
Robot
SW
RobotController
Integrated Motion
Safety
SWSafety
Controller
Robot
SW
RobotController
One hardware and software architecture for discrete, motion, safety and robot control!
Copyright © 2007 Rockwell Automation, Inc. All rights reserved.
Kinematics geometry extensions for delta robots - RSLogix 5000 V16.03Use the same hardware and software architecture to control the discrete, motion, safety and robot sections of your machine.