Workpiece
The robot can be loaded with a workpiece at the TCP during runtime. For consideration in the physics simulation, the inertia properties can be configured in the "Workpiece" submenu.
If telescopic shafts have been activated in the settings of the kinematic model for TRIPOD_RRR_M10/ TRIPOD_RRRR_M10/ TRIPOD_RRRRR_M10, the inertia properties (mass, center of gravity (X, Y, Z) and inertia (XX, YY, ZZ, XY, XZ, YZ)) of the two telescopic shaft parts, as well as the friction between the telescopic shaft parts, must also be parameterized. These properties are parameterized in the submenus that are displayed when telescopic shafts have been activated in the "Simulation" submenu of the kinematic model. If no friction values are known, the friction during operation can be determined as described in chapter Putting the physics simulation into operation in MOVIKIT® MultiMotion. INFORMATION: Simulating the drive torques for the rotary drive around A is currently not possible.
Parameter designation | Description |
|---|---|
Workpiece settings | |
Mass | Mass of the workpiece |
Center of gravity (X, Y, Z) | Center of gravity of the workpiece. X, Y, and Z refer to the TCS (Tool Coordinate System) of the robot. |
Inertia | Inertia matrix around the center of gravity. X, Y, and Z refer to the TCS (Tool Coordinate System) of the robot. |
