Hello!
I am using ABB robot and i want to find out how it works...
Would anybody recommend any books about How it's made (not ABB, in general)
Especially about how can i perform linear and oriental movements, how can i collaborate machine vision and robot movements, connection with different PLC,
creating my own interface and what should i know before writhing any soft for robots
Also any information about mechanics will be useful
Thank you!
Robots - How it's made
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PaulSola -
March 10, 2018 at 10:39 AM -
Thread is marked as Resolved.
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each robot is collection of axes (each axis has a closed loop position control) that are suitably transformed into a kinematic system (lookup Euler angles, rotation matrix and homogeneous transform).
this transform is forward transform - if you know joint angles and mechanical relationship, it is involved but straight forward to calculate end of arm or tool position.
to make TCP move along path (straight line for example) you need to divide path into small segments and use inverse transform. calculating inverse transform is a bit more involved...