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));
}
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);
}
public void SetJoint6ToFlangeTcpTrafo(RobotManufacturer roboManufacturer)
{
Joint6ToFlangeTrafo = RobotBaseDataProvider.GetJoint6ToFlangeTransformation(roboManufacturer);
}