Danaher Motion
06/2005
Appendix B
Relative Approach
Relative tracking algorithm (
slave = 5
)
The system moves the initial (before tracking) robot position (
<robot>.SETPOINT
)
in the same direction as the tracking object position. Once synchronization is
achieved, the robot moves synchronously on the same relative position to the
moving object at the moment of approach start (
slave=0
).
It is your responsibility to add the appropriate movement and bring the robot
position to the object. In this algorithm, the two parameters are used differently.
FILTERFACTOR
defines the threshold needed to end the approach phase and
switch to the track phase. As this parameter gets bigger, the approach phase lasts
less time, but the transition moment becomes jerkier.
DAMPINGFACTOR
tunes the prediction part of the algorithm. Larger values
correspond to longer approach phases. Smaller values make the approach phase
shorter.
NOTE
Due to non-linear effects (kineamtics, velocity limitations, etc.), the
algorithm becomes unstable with small
DAMPINGFACTOR
values.
Low values of
DAMPINGFACTOR
lead to robot instability!
M-SS-005-03 Rev
E
193
