Mecademic Meca500 R3, Руководство по программированию

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Programming manual for Meca500 (for firmware 9.2.x) 47
TCP/IP COMMUNICATION
Arguments
• n : link number, currently must be 5.
Responses
[2220][ t , n , a
x
, a
y
, a
z
]
– t : timestamp in microseconds;
– n : link number, currently 5;
– a
x
, a
y
, a
z
: acceleration in link 5, measured with respect to the WRF , and in units such that 16,000
is equivalent to 9.81 m/s
2
(i.e., 1g).
Data from this accelerometer should not be used for precise measurements.
2.4.5 GetRtc
This command returns the current Epoch Time in seconds, set with SetRtc , after every reboot of the
robot. Note that this is different from the timestamp returned by all GetRt* commands, which is in
microseconds. Furthermore, these two time measurements have different zero references.
Responses
[2140][ t ]
– t: Epoch time as defined in Unix (i.e., number of seconds since 00:00:00 UTC January 1, 1970).
2.4.6 GetRtCartPos
This command returns the pose of the TRF with respect to the WRF, as calculated from the current joint
set read by the joint encoders. In also returns a timestamp.
Responses
[2211][ t , x , y , z , α , β , γ ]
– t : timestamp in microseconds;
– x , y , z : the coordinates of the origin of the TRF with respect to the WRF, in mm;
– α , β , γ : the Euler angles representing the orientation of the TRF with respect to the WRF, in
degrees.
2.4.7 GetRtCartVel
This command returns the current Cartesian velocity vector of the TRF with respect to the WRF, as
calculated from the real-time data coming from the joint encoders.
Responses
[2214][ t , ẋ , ẏ , ż , ω
x
, ω
y
, ω
z
]
– t : timestamp in microseconds;
– ẋ , ẏ , ż : components of the linear velocity vector of the TCP with respect to the WRF, in mm/s.
– ω
x
, ω
y
, ω
z
: components of the angular velocity vector of the TRF with respect to the WRF , in °/s.
The current TCP speed with respect to the WRF is therefore ( ẋ
2
+ ẏ
2
+ ż
2
)
½
, and the current angular speed
of the end-effector with respect to the WRF is ( ω
x
2
+ ω
y
2
+ ω
z
2
)
½
. Note that the components of the angular
velocity vector are not the time derivatives of the Euler angles.