库卡KUKA机器人资料mp2_tool_xyz4point_en.pptVIP

TheXYZ-4PointmethodIntheXYZ-4-pointmethod,theTCPofthetoolismovedtoareferencepointfromfourdifferentdirections.TheTCPofthetoolisthencalculatedfromthedifferentflangepositionsandorientations.01/20061mp2_tool_xyz4point_en.ppt

DiagramoftheXYZ-4PointmethodP1P2P3P4ZWXTReferencepointUnknowntoolMovethetooltothereferencepointwith4differentorientations(P1toP4).Tip:Setthefinalorientation(P4)sothat+XTrunsinthedirectionof-ZW.Important:Theorientationsofthetoolpositions(flangepositions)mustdiffersufficientlyfromonean