MAKING MOTION
ACR Programmer’s Guide
205
Inverse Kinematics
Kinematics is a branch of mechanics that provides a mathematical means of describing motion. Inverse kinematics
looks at a position and works backwards to determine the motions necessary to obtain that position.
Robotic applications frequently use inverse kinematics. Algorithms describe the mechanical system and translate
the rotational motion of robotics into Cartesian coordinates. Consequently, an end user provides simple
Cartesian coordinates for an application and the inverse kinematics calculates necessary movements to reach that
position.
Suppose an application has a cutting tool at the end of a four-axis robotic arm and an HMI. The controller, using
algorithms developed by the application builder, transforms the motion target points from Cartesian coordinates
to rotational coordinates to position the arm joints and cutting tool. Once transformed, the controller
interpolates the target points to generate a motion path. See the illustration below:
Programming the Inverse Kinematics
Each application is different. The algorithm for your application can consist of equations, logical expressions and
commands in the AcroBASIC language. You can do the following:
•
Store algorithms in any of the programs 0 through 14 (be sure to dimension memory for the program).
•
Save the program to Flash memory.
•
Use the
PASSWORD
command to protect the program from uploading or listing.
•
Include the
INVK
commands in a program, or in the setup before a program.
Example
The following program results in a circle instead of a straight line because of the transformation described in
program 7 (PROG7).
PROG7
PROGRAM
P12361= SIN(P12360)
: REM Describe transformation in PROG7.
P12617= COS(P12360)
: REM Describe transformation in PROG7.
ENDP
PROG0
ATTACH MASTER0
ATTACH SLAVE0 AXIS0 "X"
Summary of Contents for ACR7000 Series
Page 1: ...Effective June 2021 Document Number 88 028698 01E Programmer s Guide ACR Series Controllers ...
Page 23: ...PARKER MOTION MANAGER ACR Programmer s Guide 23 CHAPTER 1 Parker Motion Manager ...
Page 69: ...PARKER MOTION MANAGER ACR Programmer s Guide 69 ...
Page 101: ...ACR BASICS ACR Programmer s Guide 101 CHAPTER 2 ACR Basics ...
Page 153: ...MAKING MOTION ACR Programmer s Guide 153 CHAPTER 3 Making Motion ...
Page 207: ...WRITING ACROBASIC PROGRAMS ACR Programmer s Guide 207 CHAPTER 4 Writing AcroBASIC Programs ...
Page 233: ...WRITING ACROBASIC PROGRAMS ACR Programmer s Guide 233 ...
Page 238: ...BINARY HOST INTERFACE 238 ACR Programmer s Guide CHAPTER 5 Binary Host Interface ...
Page 269: ...TROUBLESHOOTING ACR Programmer s Guide 269 CHAPTER 6 Troubleshooting ...
Page 288: ...APPENDIX B ETHERNET BASICS 288 ACR Programmer s Guide APPENDIX B Ethernet Basics ...
Page 293: ...APPENDIX C SERVO PID TUNING ACR Programmer s Guide 293 APPENDIX C Servo PID Tuning ...
Page 296: ...APPENDIX C SERVO PID TUNING 296 ACR Programmer s Guide ...