Exercise 4: Using Smartac To Determine Simple Rotational Changes; Introduction - ABB SmarTac Applications Manual

4 User's guide

4.6.1 Introduction

4.6 Exercise 4: using SmarTac to determine simple rotational changes

4.6.1 Introduction
Translation and rotation
Up to this point basic one dimensional searches have been used to accurately
locate part features that have moved only in translation, not rotation.
Using SmarTac to determine simple rotational changes
xx1400001505
Using this same basic concept, it is possible to search a weld seam that moves
both in translation and rotation. Imagine that the robtargets P2 and P3 in the
illustration, describe the ArcL\On and ArcL\Off of a weld. If each robtarget is
represented by a different program displacement then the weld seam can be moved
rotational as well.
xx1400001506
To do this for a real weld seam the robtargets P2 and P3 will have to be searched
separately and the displacement data stored in two different pose data elements.
See
56
Exercise 4: part feature with simple rotation on page
© Copyright 2004-2016 ABB. All rights reserved.
57.
Application manual - SmarTac
3HAC024845-001 Revision: A