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Forward Kinematics

Description

Simulation: Computes the position of the end-effector of a defined ABB robot based on a set of given Joint Positions.

Input Parameters

Robot (R): Defines the robot based on a robot parameter. A custom robot can be created by using the Robot component.

Robot Joint Position (RJ): Defines the robot joint position. A custom robot joint position can be generated by using the Robot Joint Position component.

External Joint Position (EJ): Defines the external axis joint position. A custom external joint position can be generated by using the External Joint Position component. If only the first external axis value is used and needs to be defined, a number value can directly be casted to an External Joint Position.

Output Parameters

Posed Meshes (PM): Contains the posed robot and external axis meshes.

End Plane (EP): Contains the posed robot’s tool center point plane.

External Axis Planes (EAP): Contains a list with all posed external axis planes.

Through the right-click menu of the component the following options are available:

Preview Robot Mesh: Enables or disables the preview of the robot mesh.

Usage

Simulation: Visualize a robot based on a given Robot and External Joint Position. The robot mesh will be colored red if any axis value is invalid.

Code Generation: Plug the End Plane output parameter of this component into the plane input parameter of the Robot Target component.