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1、Kemro K2 KeMotion Robotics Functions Tutorial V2.55 Translation of the original manual Document : V2.55 / article no.: 1005202 Filename: KeMotion_RoboticsFunctions_en.pdf Pages: 44 . KEBA 2012 Specifications are subject to change due to further technical developments. Details presented may be subjec
2、t to correction. All rights reserved. KEBA AG Headquarters:Gewerbepark Urfahr, A-4041 Linz, Phone: +43 732 7090-0, Fax: +43 732 7309-10, For information about our subsidiaries please look at . Record of Revision VersionDateChange in chapterDescriptionchanged by V2.1010-2009newly createdmit V2.4021.
3、09.2011Kemro_Automation 2.40nmr V2.5011.04.2012Kemro_Automation 2.50pend V2.5519.12.2012Kemro_Automation 2.55nmr KeMotionRecord of Revision KEBA 2012 Tutorial V2.553 Table of Contents 1 Preliminary notes . 9 1.1 Purpose of the document, target group, pre-requirements. 9 1.2 Contents 9 1.3 Documents
4、for further reading . 10 2 Overview 11 2.1 System overview. 11 2.2 Integration of robot controller and PLC 11 2.3 Robotics functions. 11 2.4 Open architecture 12 3 SW components 13 3.1 UOS 13 3.2 IO-System. 13 3.3 Robot control. 13 3.3.1 Teach-In system. 13 3.3.2 Robot operating functions 14 3.3.3 P
5、ath planning. 14 3.4 RC interface 14 3.5 Motion Library. 14 4 Application range. 15 4.1 Axis control . 15 4.2 Path control 15 5 Robot axis control 16 5.1 Configuration. 16 5.2 Path positions 16 5.3 Acceleration profiles 16 5.4 Velocity, Acceleration, Jerk. 17 5.5 Path blending 17 5.5.1 relative spec
6、ification. 17 5.5.2 absolute specification. 17 5.6 Summary programming 18 5.7 Differences to single axis control . 18 6 Cartesian path control 19 6.1 Robot configuration. 19 6.2 Generic robot transform 21 6.3 Auxiliary joints. 22 6.4 Geometry of the path 22 6.5 Orientation. 22 6.6 Path positions 23
7、6.6.1 Simplified orientation 23 6.6.2 Robot configuration 23 KeMotionTable of Contents KEBA 2012 Tutorial V2.555 6.7 Interpolation modes. 24 6.8 Path blending 24 6.9 Triggers on path 24 6.10 Drive limits. 24 6.11 Singularities. 25 6.12 Tool change 25 6.13 External tool 25 6.14 Workspace monitoring 2
8、6 7 Tracking, Sensor Integration. 27 7.1 Joint Tracking 27 7.2 Cartesian 6-D Tracking. 27 7.3 Line- and Rail Tracking. 27 7.4 Application Optimized Filters. 27 7.5 Tracking for PTP Paths. 28 7.6 Time-optimal Tracking Paths . 28 7.7 Sensor Correction 28 8 Model-based Control 29 8.1 Dynamic Robot Mode
9、l. 29 8.2 Torque Limiter. 29 8.3 Torque Feed Forward. 30 8.4 Compensation of Elasticity 30 9 Online Programming (Teach-In) 31 9.1 Jogging 31 9.2 Program Development (Teach-In). 31 9.3 Program Execution target positions in joint coordinates are needed for this. Additionally the numerical stability ne
10、ar singularities is worse than with specialized algorithms and a detection of singular areas is not possible. The generic robot transform is well suited for prototypes and experimental studies, as no special transform algorithm has to be developed. But there is no use intended for industrial product
11、s. 6.3 Auxiliary joints Besides the robot main joints contained in the robot transform, any robot can use additional joints the are interpolated synchronously with the path motion. The additional joints can be free joints or drives or joints that are in the kine- matic chain of the robot. Free auxil
12、iary joints are joints than have no relation to the position of the robot or the workpiece. They only are changed synchronously with the path move- ment. Application examples are position controlled drives in the tool or the gripper or holding or transport devices for the workpiece, that shall be mo
13、ved synchronously with the robot. Auxiliary joints in the kinematic chain are for example linear joints that the robot is mounted on to extend the working area of the robot. Auxiliary joints in chain have to be regarded in path interpolation of the robot. But the positions of the auxiliary joints ar
14、e defined explicitly and are interpolated linear on a path segment, i.e. on a line with constant path speed also the velocity of the auxiliary joint is constant. 6.4 Geometry of the path As elementary path geometry of the position following types are available: Line Circle Spline 6.5 Orientation Als
15、o the orientation chance can be defined in several different ways: Rotation with pivot and turn (Z-Rotation“) Reorientation along a circle Wrist-joint interpolation Cartesian path controlKeMotion KEBA 2012 Tutorial V2.5522 With Z-Rotation the orientation change is interpolated in two rotations that
16、are executed synchronously. The z-axis of the tool is pivoted from the start to the end pose in a plane. At the same time the tool is rotated around the z-axis. Both rotations are done the shortest possible way, i.e. only rotations less than 180 degrees are possible. Together with a circle often also a rotation corresponding to the circle is de- sired. With Z-Rotation the choice of the smallest possible way can lead to a different orientation movement. So
