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  • Intro To ABB Robotic 1 - Concept

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    Intro to ABB Robotic 1 - Concept

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    71 views11 pages

    Intro To ABB Robotic 1 - Concept

    Uploaded by

    agung

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    Download as pdf or txt
    of 11

    CONCEPT

    © ABB Group
    January 8, 2015 | Slide 1
    Target n Path
    In order to move correctly , robot need to know where the target to be achieved
    and which coordinate system to be used. (target always have a reference)

    Target P1 Path

    Path

    Target P2

    © ABB Group
    January 8, 2015 | Slide 2
    Target

    CONST robtarget pHome:=

    [[ 844.42,-4.02,1145.76 ], [ 0.0213,-0.9346,-0.3578,-0.0192 ], [ -1,0,0,0 ], [9E+09,9E+09,9E+09,9E+09]];

    Position Axis
    Orientation Ex Axis
    [X,Y,Z] Configuration

    © ABB Group
    January 8, 2015 | Slide 3
    Robot Coordinate System

    In order to move correctly , robot need to know where the target to be achieved
    and which coordinate system to be used. (target always have a reference)

    © ABB Group
    January 8, 2015 | Slide 4
    BASE COORDINATE SYSTEM

    § The base coordinate system has it


    zero point in the base of the robot,
    which makes movement predictable
    for fixed mounted robots.

    © ABB Group
    January 8, 2015 | Slide 5
    TOOL - TCP COORDINATE SYSTEM

    § The tool coordinate system has its zero position at the center of the tool.
    It thereby defines the position and the orientation of the tool. The tool
    coordinate system abbreviated to TCP (Tool Centre Point) or TCPF (Tool
    Centre Point Frame).

    © ABB Group
    January 8, 2015 | Slide 6
    TOOL - TCP COORDINATE SYSTEM
    Creating a tool
    § The tool center point of the default tool (tool0) is in the center of the robot’s
    mounting flange and with the mounting flange’s orientation.
    § By creating a tool, you can define another tool center point.

    © ABB Group
    January 8, 2015 | Slide 7
    WORK OBJECT COORDINATE SYSTEM
    § The work object coordinate system corresponds to the work piece:
    It defines the placement of the work piece in relation to the world
    coordinate system (or any other coordinate system).
    Axis Configuration

    A B C

    When the controller calculates the position of the robot axes for
    reaching the target, it will often find more than one possible solution
    to configuring the robot axes

    the robot cannot move from one configuration to the other

    © ABB Group
    January 8, 2015 | Slide 9
    © ABB Group
    January 8, 2015 | Slide 10
    © ABB Group
    January 8, 2015 | Slide 11

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