Constellation

For certain kinematics, the Cartesian pose (ISO 8373: "Combination of position and orientation in space") is not sufficient to clearly describe the joint position. For example, with SCARA robots, the same Cartesian pose can be achieved with 2 different joint positions (see the following figures). The constellation describes the position of the robot during the pose. The constellation is a numbering of the possible joint positions.

INFORMATION

The constellation is maintained during movement by means of linear or circular 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.