Constellation

For certain kinematics, the Cartesian pose (ISO 8373: "Combination of position and orientation in space") is not sufficient to clearly describe the axis position. A simple example of this would be the SCARA kinematics, where the same Cartesian pose can be achieved by 2 different axis positions (see figures below). The constellation describes the position of the robot during the pose. A constellation means assigning numbers to the possible axis positions.

INFORMATION

The constellation is maintained during movement by means of path interpolation, and while the Cartesian axes are being jogged.

The constellation can be changed by jogging the single axes, the joint axes, or PTP interpolation.