Center Of Gravity (Cg) - Omron HD-1500 Platform User Manual

5.2 Considerations
Coordinates are required for procedures such as installing and configuring options such as
lasers, and for understanding the center of gravity envelope. The AMR's coordinates also relate
to the map coordinates.
The rotation value Theta (θ) specifies the AMR's angle of rotation, which determines its head-
ing, or direction of travel.
The origin of the vertical coordinate (Z) is set at ground level (Z=0). The value of Z is required
when you calculate the mount position of options (such as side lasers). You then specify the
position of the option in MobilePlanner.
B
C
Callout
A
B
C
D
Additional Information: Dimension Drawings on page 270.

Center of Gravity (CG)

Keep your payload structure's center of gravity (CG) centered over the HD-1500's own center of
gravity and as low (close to the HD-1500's top) as possible. This provides optimum stability,
particularly when the HD-1500 crosses raised thresholds or irregularities in the floor.
See: Dimension Drawings on page 270 for information that will help you design and locate the
payload, in particular:
Center of Rotation—The mid-point of a line between the center of the drive wheel hubs,
l
about which the HD-1500 will rotate.
Center of Gravity—The unloaded HD-1500's center of gravity.
l
X and Y Axis Mid-lines—Lines that cross in the HD-1500 center of rotation.
l
143
X
Figure 5-2. AMR Coordinate System
AMR Reference
Right side
Left side
Front
Rear
HD-1500 Platform User's Manual
Z
Y
A
Theta θ
(Rotation)
+90 degrees
-90 degrees
0 degrees
180 degrees
D
X, Y
Coordinate
Positive Y
Negative Y
Positive X
Negative X
31500-000 Rev A