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help:common:robot_mitsubishi_rv-6sdl [2010/07/30 13:18]
smutny
help:common:robot_mitsubishi_rv-6sdl [2010/10/25 09:19]
meloumar
Line 1:
Line 1:
===== Mitsubishi robot RV-6SDL =====
===== Mitsubishi robot RV-6SDL =====
-
MASH project. Room number is A420 and phone number is 7245.
+
A robot used in
MASH project. Room number is A420 and
a
phone number is
+420 224 357 245 (local line
7245
)
.
=== How to use it ===
=== How to use it ===
Line 33:
Line 33:
^ ''joint'' ^ ''α'' ^ ''a'' ^ ''Θ'' ^ ''d'' ^ ''parameter range'' ^
^ ''joint'' ^ ''α'' ^ ''a'' ^ ''Θ'' ^ ''d'' ^ ''parameter range'' ^
| ''1'' | ''-90'' | ''85'' | ''parameter'' | ''350'' | ''< -170; 170 >'' |
| ''1'' | ''-90'' | ''85'' | ''parameter'' | ''350'' | ''< -170; 170 >'' |
-
| ''2'' | ''0'' | ''380'' | ''90 + parameter''
| ''0'' | ''< -92; 135 >'' |
+
| ''2'' | ''0'' | ''380'' | ''
-
90 + parameter''
| ''0'' | ''< -92; 135 >'' |
-
| ''3'' | ''90''
|
''
0
''
| ''parameter''
| ''0'' | ''< -129; 166 >'' |
+
| ''3'' | ''
-
90''
|
''
100
''
| ''
-90 +
parameter''
| ''0'' | ''< -129; 166 >'' |
-
| ''4'' | ''
-
90
+ parameter
''
|
''
425
''
| ''
0
''
| ''
100
'' | ''< -160; 160 >'' |
+
| ''4'' | ''90''
|
''
0
''
| ''
parameter
''
| ''
425
'' | ''< -160; 160 >'' |
-
| ''5'' | ''90''
| ''0'' | ''
90 +
parameter''
| ''0'' | ''< -120; 120 >'' |
+
| ''5'' | ''
-
90''
| ''0'' | ''parameter''
| ''0'' | ''< -120; 120 >'' |
| ''6'' | ''0'' | ''0'' | ''parameter'' | ''85'' | ''< -360; 360 >'' |
| ''6'' | ''0'' | ''0'' | ''parameter'' | ''85'' | ''< -360; 360 >'' |
The parameters ''α'' (rotation around new X axis) ''Θ'' (rotation around Z axis) are in degress and the parameters ''a'' (translation in new X axis) and ''d'' (translation in Z axis) are in milimeters. The Base is eye matrix and there is no Tool installed. The parameter range is in degrees and is the maximum possible range.
The parameters ''α'' (rotation around new X axis) ''Θ'' (rotation around Z axis) are in degress and the parameters ''a'' (translation in new X axis) and ''d'' (translation in Z axis) are in milimeters. The Base is eye matrix and there is no Tool installed. The parameter range is in degrees and is the maximum possible range.
+
=== Robot setup ===
=== Robot setup ===
Robot currently set using parameter MEPAR to work above plane with the z coordinate 100 mm.
Robot currently set using parameter MEPAR to work above plane with the z coordinate 100 mm.
=== Sample images ===
=== Sample images ===
-
{{:help:common:
photo_cubes_on_tv
.zip| Images
from cameras
}}, top view and oblique view of cubes placed on the TV screen, which projects "wild water".
+
{{:help:common:
help:common:robot_mitsubishi_rv-6sdl:photos-1:mash_robot_pictures
.zip|Images }}, top view and oblique view
,
of cubes placed on the TV screen, which projects "wild water".
help/common/robot_mitsubishi_rv-6sdl.txt
· Last modified: 2022/10/21 15:49 by
smutny