public static TransformationMatrix GetJoint6ToFlangeTransformation(RobotManufacturer robotBrand)
        {
            DenseMatrix dense = null;

            switch (robotBrand)
            {
            case RobotManufacturer.Kuka:
                dense = Transformations.GetRotMatrixY(Math.PI);
                break;

            case RobotManufacturer.ABB:
                break;

            case RobotManufacturer.Fanuc:
                break;

            case RobotManufacturer.Kawasaki:
                break;

            case RobotManufacturer.UR:
                break;

            case RobotManufacturer.Mitsubishi:
                break;

            default:
                break;
            }

            return(new TransformationMatrix(dense));
        }
Esempio n. 2
0
        public Robot(string name, RobotManufacturer robotBrand, RobotModels robotModel)
        {
            ModelName = name;
            Joints    = new SortedList <int, Joint>();

            var dhParams = DHParameterFactory.GetDhParameterForRobot(robotModel);

            for (int i = 0; i < dhParams.Count; i++)
            {
                Joints.Add(i, new RotationalJoint(0, 360, dhParams[i]));
            }

            Kinematic = new RobotKinematics(dhParams);

            InitializeMember();
            Joint6ToFlangeTrafo = RobotBaseDataProvider.GetJoint6ToFlangeTransformation(robotBrand);
        }
Esempio n. 3
0
 public void SetJoint6ToFlangeTcpTrafo(RobotManufacturer roboManufacturer)
 {
     Joint6ToFlangeTrafo = RobotBaseDataProvider.GetJoint6ToFlangeTransformation(roboManufacturer);
 }