Class Mechanism

A mechanism is a GraphicComponent that a number of joints controlling the movement of a number of links. A robot is the archetypal mechanism in RobotStudio, but it is not the only kind.

Inheritance

object

ProjectObject

GraphicComponent

Mechanism

Implements

IHasGraphicComponents

Inherited Members

GraphicComponent._definition

GraphicComponent._childInstances

GraphicComponent._transformMat

GraphicComponent._pickingEnabled

GraphicComponent._frames

GraphicComponent._source

GraphicComponent._sourceFileTime

GraphicComponent._detectable

GraphicComponent._clipPlane

GraphicComponent.OnCreatingObject()

GraphicComponent.OnDelete()

GraphicComponent.OnUndoRedo()

GraphicComponent.GetMatrix()

GraphicComponent.SetMatrix(Matrix4)

GraphicComponent.OnDefinitionChanged()

GraphicComponent.SetMaterial(Material, bool)

GraphicComponent.Copy()

GraphicComponent.CopyInstance()

GraphicComponent.MoveDefinitionToLibrary()

GraphicComponent.Delete()

GraphicComponent.Highlight(bool)

GraphicComponent.Highlight(bool, Color)

GraphicComponent.DisconnectFromLibrary()

GraphicComponent.DeleteGeometry(bool)

GraphicComponent.DeleteGeometry()

GraphicComponent.GetNormalToSurface(Vector3, out Vector3, out Vector3, out Face)

GraphicComponent.TryGetNormalToSurface(Vector3, out Vector3, out Vector3, out Face)

GraphicComponent.GetBoundingBox(bool, out Vector3, out Vector3)

GraphicComponent.GetBoundingBox(bool)

GraphicComponent.GetBoundingBox(bool, IntPtr, IntPtr)

GraphicComponent.ImportAsync(string)

GraphicComponent.ImportAsync(string, GraphicImportSettings, IProgressCallback)

GraphicComponent.CanImport(string)

GraphicComponent.ImportXml(string, string, string, string)

GraphicComponent.ImportXmlAsync(string, string, string, string)

GraphicComponent.ImportXml(string, string, Dictionary<string, string>)

GraphicComponent.ImportXmlAsync(string, string, Dictionary<string, string>)

GraphicComponent.ImportXml(string, string)

GraphicComponent.ImportXmlAsync(string, string)

GraphicComponent.ImportXml(string)

GraphicComponent.ImportXmlAsync(string)

GraphicComponent.ExportXml(string, string)

GraphicComponent.ExportXml(string)

GraphicComponent.GetGfxMatrix()

GraphicComponent.GetGfxChildren()

GraphicComponent.Parent

GraphicComponent.Library

GraphicComponent.Transform

GraphicComponent.IsTransient

GraphicComponent.Visible

GraphicComponent.Color

GraphicComponent.Opacity

GraphicComponent.PickingEnabled

GraphicComponent.Detectable

GraphicComponent.ClipPlane

GraphicComponent.Frames

GraphicComponent.Annotations

GraphicComponent.PhysicsMotionControl

GraphicComponent.GfxData

ProjectObject._curUndoDeltaState

ProjectObject.FindObjects(Predicate<ProjectObject>, Predicate<ProjectObject>)

ProjectObject.ToString()

ProjectObject.Backup(bool)

ProjectObject.NotifyChange()

ProjectObject.NotifyChange(ProjectObjectChangeType)

ProjectObject.BeforeSave(PimDocument)

ProjectObject.Name

ProjectObject.DisplayName

ProjectObject.ContainingProject

ProjectObject.Attributes

ProjectObject.UIVisible

ProjectObject.TypeDisplayName

ProjectObject.UniqueId

ProjectObject.InternalChildren

ProjectObject.InternalParent

ProjectObject.Children

ProjectObject.DisplayNameChanged

ProjectObject.ProjectObjectChanged

ProjectObject.InternalEvent

Namespace: ABB.Robotics.RobotStudio.Stations

Assembly: ABB.Robotics.RobotStudio.Stations.dll

Syntax

[Persistent("MechanismInstance")]
public class Mechanism : GraphicComponent, IHasTransform, IHasFrames, IAttachableChild, ISupportCopy, IHasGraphicComponents

Constructors

View Source

Mechanism(PimDocument)

Declaration

protected Mechanism(PimDocument doc)

Parameters

Type	Name	Description
PimDocument	doc

Fields

View Source

_jointValues

Declaration

[Undoable]
[Persistent("JointValues", Convert = PimConvert.NoConversion)]
[CLSCompliant(false)]
protected double[] _jointValues

Field Value

Type	Description
double[]

View Source

_numJoints

Declaration

[Undoable]
[Persistent("NumJoints")]
[CLSCompliant(false)]
protected int _numJoints

Field Value

Type	Description
int

Properties

View Source

AdditionalComponents

Gets a GraphicComponentCollection that contains child components that are not mechanism links.

Declaration

public GraphicComponentCollection AdditionalComponents { get; }

Property Value

Type	Description
GraphicComponentCollection

View Source

GraphicComponents

Gets a GraphicComponentCollection that contains all the links of the mechanism.

Declaration

public GraphicComponentCollection GraphicComponents { get; }

Property Value

Type	Description
GraphicComponentCollection

View Source

KinematicsFlags

Returns the kinematic type and other properties for a Mechanism of type Robot

Declaration

public KinematicsFlags KinematicsFlags { get; }

Property Value

Type	Description
KinematicsFlags

View Source

Mass

The mass of the mechanism. Used when the mechanism is used as a tool.

Declaration

public double Mass { get; }

Property Value

Type	Description
double

View Source

MechanismType

Gets the type.

Declaration

public MechanismType MechanismType { get; }

Property Value

Type	Description
MechanismType

View Source

ModelBaseFrame

Returns the nominal base frame of this model

Declaration

public Matrix4 ModelBaseFrame { get; }

Property Value

Type	Description
Matrix4

View Source

ModelName

Gets the name of the model.

Declaration

public string ModelName { get; }

Property Value

Type	Description
string

View Source

MultiAxisRobot

Returns true if this is a multi axis robot (more than six active joints)

Declaration

public bool MultiAxisRobot { get; }

Property Value

Type	Description
bool	True if multi axis robot.

View Source

NumActiveJoints

Gets the number of active joints, i.e. joints that are not dependant on other joints. This equals the number of values in the array when getting or setting joint values.

Declaration

public int NumActiveJoints { get; }

Property Value

Type	Description
int

View Source

Task

Gets the associated RsTask.

Declaration

public RsTask Task { get; }

Property Value

Type	Description
RsTask

View Source

TraceColor

Gets or sets the color used to trace the TCP during simulation.

Declaration

public Color? TraceColor { get; set; }

Property Value

Type	Description
Color?

Remarks

This value is not persisted. If null, the color specified by the user in the TCP Trace dialog is used.

View Source

TraceTCP

Enables or disables a graphical trace of the active TCP during simulation.

Declaration

public bool TraceTCP { get; set; }

Property Value

Type	Description
bool

Remarks

Only valid for TCP robots.

View Source

UsesCfx

Returns true if the Cfx parameter is used by this robot model, otherwise false. The performance of GetAllConfigurations is better for robots that does not use Cfx since the number of possible configurations are smaller.

Declaration

public bool UsesCfx { get; }

Property Value

Type	Description
bool	True if Cfx is used, otherwise false.

Methods

View Source

AfterLoad(PimDocument)

Declaration

protected override void AfterLoad(PimDocument doc)

Parameters

Type	Name	Description
PimDocument	doc

Overrides

GraphicComponent.AfterLoad(PimDocument)

View Source

AttachToFlange(IAttachableChild, bool)

Attaches the specified IAttachableChild to the flange of the Mechanism. The Mechansim must have exactly one flange.

Declaration

public bool AttachToFlange(IAttachableChild child, bool mount)

Parameters

Type	Name	Description
IAttachableChild	child	The IAttachableChild to attach to the link of this flange.
bool	mount	Specifies if the position of the child shall be affected by the attachment or not. See Attachment for details.

Returns

Type	Description
bool	True on success.

View Source

AttachToFlange(IAttachableChild, bool, Matrix4)

Attaches the specified IAttachableChild to the first flange of the Mechanism.

Declaration

public bool AttachToFlange(IAttachableChild child, bool mount, Matrix4 offset)

Parameters

Type	Name	Description
IAttachableChild	child	The IAttachableChild to attach to the link of this flange.
bool	mount	Specifies if the position of the child shall be affected by the attachment or not. See Attachment for details.
Matrix4	offset	Specifies the offset from the parent to the child.

Returns

Type	Description
bool	True on success.

View Source

CalculateForwardKinematics(double[], out ForwardKinematicsResult)

Calculates forward kinematics for the mechanism. Given the specified mechanism joint values, the resulting TCP (tool0) transform is returned.

Declaration

public Matrix4 CalculateForwardKinematics(double[] jointValues, out ForwardKinematicsResult insideLimits)

Parameters

Type	Name	Description
double[]	jointValues	Array of mechanism joint values, for which to calculate forward kinematics.
ForwardKinematicsResult	insideLimits	Out parameter that specifies if the forward kinematics calculation failed or succeded.

Returns

Type	Description
Matrix4	The transform of the TCP (tool0) if the mechanism were positioned according to the specified joint values.

Remarks

This method is thread-safe as long as no other RobotStudio API calls are made concurrently that may change the model. Exception: Mechanisms with closed kinematic loops such as the IRB360.

View Source

CalculateInverseKinematics(Matrix4, Matrix4, bool, out double[])

Declaration

[Obsolete("Use CalculateInverseKinematicsAsync() instead")]
public bool CalculateInverseKinematics(Matrix4 pose, Matrix4 toolMat, bool fixedObject, out double[] resultJointVector)

Parameters

Type	Name	Description
Matrix4	pose
Matrix4	toolMat
bool	fixedObject
double[]	resultJointVector

Returns

Type	Description
bool

View Source

CalculateInverseKinematics(Matrix4, double[], double[], Matrix4, bool, out double[])

Calculate inverse kinematics given a pose and a starting set of joint values.

Declaration

public bool CalculateInverseKinematics(Matrix4 pose, double[] referenceJointValues, double[] integratedUnitsJointValues, Matrix4 toolMat, bool fixedObject, out double[] resultJointVector)

Parameters

Type	Name	Description
Matrix4	pose
double[]	referenceJointValues
double[]	integratedUnitsJointValues
Matrix4	toolMat
bool	fixedObject
double[]	resultJointVector	Out parameter containing the result.

Returns

Type	Description
bool	True on success.

View Source

CalculateInverseKinematics(RsRobTarget, RsWorkObject, RsToolData, int[], out double[])

Calculates inverse kinematics for the mechanism given a RsTarget, RsWorkObject and RsToolData.

Declaration

public bool CalculateInverseKinematics(RsRobTarget robTarget, RsWorkObject workObject, RsToolData tool, int[] cfg, out double[] resultJointVector)

Parameters

Type	Name	Description
RsRobTarget	robTarget
RsWorkObject	workObject
RsToolData	tool
int[]	cfg
double[]	resultJointVector	Out parameter that contains the joint values, the mechanism would have if it was moved to the target position. If this method returns false, the joint values are undefined.

Returns

Type	Description
bool	True, if the mechanism can move to the target position, otherwise false.

View Source

CalculateInverseKinematics(RsTarget, RsToolData, bool, out double[])

Calculates inverse kinematics for the mechanism. Given the specified RsTarget and RsToolData, this method returns the joint values the mechanism would have if it was moved to the pose. A mechanism can often reach the specified pose with different arm configurations. Using the useConfiguration you force the arm configuration stored in the RsTarget to be used.

Declaration

public bool CalculateInverseKinematics(RsTarget target, RsToolData tool, bool useConfiguration, out double[] resultJointVector)

Parameters

Type	Name	Description
RsTarget	target	The target position. This is the position that shall coincide with the tool.
RsToolData	tool	The tool that should coincide with the target. The RobotHold property is used to determince if the tool is stationary or held by the robot.
bool	useConfiguration	Specifies if the exact arm configuration stored in the target shall be used for the calculation. If set to true, the arm configuration is used. In this case this method returns true only if the mechanism can move to the specified target with its specified arm configuration. If the parameter is set to false, the arm configuration that is closes to the current mechanism joint values is returned, if the target is reachable.
double[]	resultJointVector	Out parameter that contains the joint values, the mechanism would have if it was moved to the target position. If this method returns false, the joint values are undefined.

Returns

Type	Description
bool	True, if the mechanism can move to the target position, otherwise false.

Remarks

When using this overload the target position shall not be converted to to mechanism base frame coordinates.

View Source

CalculateInverseKinematicsAsync(Matrix4, Matrix4, bool)

Calculate inverse kinematics from a pose.

Declaration

public Task<double[]> CalculateInverseKinematicsAsync(Matrix4 pose, Matrix4 toolMat, bool fixedObject)

Parameters

Type	Name	Description
Matrix4	pose
Matrix4	toolMat
bool	fixedObject

Returns

Type	Description
Task<double[]>

View Source

CalculateInverseKinematicsAsync(Matrix4, double[], double[], Matrix4, bool)

Calculate inverse kinematics given a pose and a starting set of joint values.

Declaration

public Task<double[]> CalculateInverseKinematicsAsync(Matrix4 pose, double[] referenceJointValues, double[] integratedUnitsJointValues, Matrix4 toolMat, bool fixedObject)

Parameters

Type	Name	Description
Matrix4	pose
double[]	referenceJointValues
double[]	integratedUnitsJointValues
Matrix4	toolMat
bool	fixedObject

Returns

Type	Description
Task<double[]>

View Source

CalculateInverseKinematicsAsync(RsRobTarget, RsWorkObject, RsToolData, int[])

Calculates inverse kinematics for the mechanism given a RsTarget, RsWorkObject and RsToolData.

Declaration

public Task<double[]> CalculateInverseKinematicsAsync(RsRobTarget robTarget, RsWorkObject workObject, RsToolData tool, int[] cfg)

Parameters

Type	Name	Description
RsRobTarget	robTarget
RsWorkObject	workObject
RsToolData	tool
int[]	cfg

Returns

Type	Description
Task<double[]>	Joint values if the mechanism can move to the target position, otherwise null.

View Source

CalculateInverseKinematicsAsync(RsTarget, RsToolData, bool)

Declaration

public Task<double[]> CalculateInverseKinematicsAsync(RsTarget target, RsToolData tool, bool useConfiguration)

Parameters

Type	Name	Description
RsTarget	target	The target position. This is the position that shall coincide with the tool.
RsToolData	tool	The tool that should coincide with the target. The RobotHold property is used to determince if the tool is stationary or held by the robot.
bool	useConfiguration	Specifies if the exact arm configuration stored in the target shall be used for the calculation. If set to true, the arm configuration is used. In this case this method returns true only if the mechanism can move to the specified target with its specified arm configuration. If the parameter is set to false, the arm configuration that is closes to the current mechanism joint values is returned, if the target is reachable.

Returns

Type	Description
Task<double[]>	Joint values if the mechanism can move to the target position, otherwise null.

Remarks

When using this overload the target position shall not be converted to to mechanism base frame coordinates.

View Source

CanReach(Matrix4, Matrix4)

Declaration

[Obsolete("Use CanReachAsync() instead")]
public bool CanReach(Matrix4 pose, Matrix4 toolMat)

Parameters

Type	Name	Description
Matrix4	pose
Matrix4	toolMat

Returns

Type	Description
bool

View Source

CanReach(RsRobTarget, RsWorkObject, RsToolData)

Declaration

[Obsolete("Use CanReachAsync() instead")]
public bool CanReach(RsRobTarget robTarget, RsWorkObject workObject, RsToolData tool)

Parameters

Type	Name	Description
RsRobTarget	robTarget
RsWorkObject	workObject
RsToolData	tool

Returns

Type	Description
bool

View Source

CanReachAsync(Matrix4, Matrix4)

Checks if the specified target position can be reached with the specified tool. A mechanism can often reach the specified target with different arm configurations. This method returns true as long as there is at least one arm configuration with which the robot can reach the target.

Declaration

public Task<bool> CanReachAsync(Matrix4 pose, Matrix4 toolMat)

Parameters

Type	Name	Description
Matrix4	pose	The target position. This is the position that shall coincide with the tool.
Matrix4	toolMat	The tool frame that should coincide with the target.

Returns

Type	Description
Task<bool>	True, if the mechanism can move to the target position, otherwise false.

View Source

CanReachAsync(RsRobTarget, RsWorkObject, RsToolData)

Declaration

public Task<bool> CanReachAsync(RsRobTarget robTarget, RsWorkObject workObject, RsToolData tool)

Parameters

Type	Name	Description
RsRobTarget	robTarget	The target position. This is the position that shall coincide with the tool.
RsWorkObject	workObject	The workobject to use.
RsToolData	tool	The tool that should coincide with the target. The RobotHold property is used to determine if the tool is stationary or held by the robot.

Returns

Type	Description
Task<bool>	True, if the mechanism can move to the target position, otherwise false.

View Source

ClearTrace()

Removes the graphical trace of the TCP.

Declaration

public void ClearTrace()

View Source

CreateFromScript(string)

Declaration

[Obsolete("No longer supported")]
public static Mechanism CreateFromScript(string fileName)

Parameters

Type	Name	Description
string	fileName

Returns

Type	Description
Mechanism

View Source

CreateFromScriptAsync(string)

This method is for internal use only.

Declaration

public static Task<Mechanism> CreateFromScriptAsync(string fileName)

Parameters

Type	Name	Description
string	fileName

Returns

Type	Description
Task<Mechanism>

View Source

GetActiveJoints()

This method returns the (1-based) indices of the joints used by this mechanism, as an array of integers. The length of the array depends on how many joints are used. Some mechanism models have less than six axis. The indices can be used together with the result from GetJointValues()

Declaration

public int[] GetActiveJoints()

Returns

Type	Description
int[]	An array containing the indices of each joint that is used by this mechanism.

Exceptions

Type	Condition
ArgumentException
ArgumentNullException

GetAllConfigurations(RsMoveInstruction)

Declaration

[Obsolete("Use GetAllConfigurationsAsync() instead")]
public ConfigurationData[] GetAllConfigurations(RsMoveInstruction moveInstruction)

Parameters

Type	Name	Description
RsMoveInstruction	moveInstruction

Returns

Type	Description
ConfigurationData[]

View Source

GetAllConfigurations(RsMoveInstruction, bool)

Declaration

[Obsolete("Use GetAllConfigurationsAsync() instead")]
public ConfigurationData[] GetAllConfigurations(RsMoveInstruction moveInstruction, bool includeTurns)

Parameters

Type	Name	Description
RsMoveInstruction	moveInstruction
bool	includeTurns

Returns

Type	Description
ConfigurationData[]

View Source

GetAllConfigurations(RsTarget, RsToolData)

Returns reachable arm configurations for the specified target.

Declaration

[Obsolete("Use GetAllConfigurationsAsync() instead")]
public ConfigurationData[] GetAllConfigurations(RsTarget target, RsToolData tool)

Parameters

Type	Name	Description
RsTarget	target	The target for which to find reachable configurations.
RsToolData	tool	The tool that should coincide with the target. The RobotHold property is used to determince if the tool is stationary or held by the robot.

Returns

Type	Description
ConfigurationData[]	An array of ConfigurationData with which the mechanism can reach the specified target.

View Source

GetAllConfigurations(RsTarget, RsToolData, bool)

Declaration

[Obsolete("Use GetAllConfigurationsAsync() instead")]
public ConfigurationData[] GetAllConfigurations(RsTarget target, RsToolData tool, bool includeTurns)

Parameters

Type	Name	Description
RsTarget	target
RsToolData	tool
bool	includeTurns

Returns

Type	Description
ConfigurationData[]

View Source

GetAllConfigurations(RsTarget, RsToolData, int[])

Declaration

[Obsolete("Use GetAllConfigurationsAsync() instead")]
public ConfigurationData[] GetAllConfigurations(RsTarget target, RsToolData tool, int[] cfxFilter)

Parameters

Type	Name	Description
RsTarget	target
RsToolData	tool
int[]	cfxFilter

Returns

Type	Description
ConfigurationData[]

View Source

GetAllConfigurations(RsTarget, RsToolData, int[], bool)

Declaration

[Obsolete("Use GetAllConfigurationsAsync() instead")]
public ConfigurationData[] GetAllConfigurations(RsTarget target, RsToolData tool, int[] cfxFilter, bool includeTurns)

Parameters

Type	Name	Description
RsTarget	target
RsToolData	tool
int[]	cfxFilter
bool	includeTurns

Returns

Type	Description
ConfigurationData[]

View Source

GetAllConfigurations(bool)

Declaration

[Obsolete("Use GetAllConfigurationsAsync() instead")]
public ConfigurationData[] GetAllConfigurations(bool includeTurns)

Parameters

Type	Name	Description
bool	includeTurns

Returns

Type	Description
ConfigurationData[]

View Source

GetAllConfigurationsAsync(RsMoveInstruction, bool)

Returns reachable arm configurations for the specified move instruction.

Declaration

public Task<ConfigurationData[]> GetAllConfigurationsAsync(RsMoveInstruction moveInstruction, bool includeTurns)

Parameters

Type	Name	Description
RsMoveInstruction	moveInstruction	The move instruction for which to find reachable configurations. The target, tool and workobject specified in the instruction is used.
bool	includeTurns	Only the base configurations will be returned if this parameter is set to false. If true, the turns of the base configurations will be added.

Returns

Type	Description
Task<ConfigurationData[]>	An array of ConfigurationData with which the mechanism can reach the specified target.

View Source

GetAllConfigurationsAsync(RsTarget, RsToolData, bool)

Returns reachable arm configurations for the specified target.

Declaration

public Task<ConfigurationData[]> GetAllConfigurationsAsync(RsTarget target, RsToolData tool, bool includeTurns)

Parameters

Type	Name	Description
RsTarget	target	The target for which to find reachable arm configurations.
RsToolData	tool	The tool that should coincide with the target. The RobotHold property is used to determince if the tool is stationary or held by the robot.
bool	includeTurns	Only the base configurations will be returned if this parameter is set to false. If true, the turns of the base configurations will be added.

Returns

Type	Description
Task<ConfigurationData[]>	An array of ConfigurationData with which the mechanism can reach the specified target.

View Source

GetAllConfigurationsAsync(RsTarget, RsToolData, int[], bool)

Returns reachable arm configurations for the specified target.

Declaration

public Task<ConfigurationData[]> GetAllConfigurationsAsync(RsTarget target, RsToolData tool, int[] cfxFilter, bool includeTurns)

Parameters

Type	Name	Description
RsTarget	target	The target for which to find reachable configurations.
RsToolData	tool	The tool that should coincide with the target. The RobotHold property is used to determince if the tool is stationary or held by the robot.
int[]	cfxFilter	An array of integers which specifies Cfx values to be included in the resulting array. This parameter is only applicable for a bending bacwards robot. Cfx values which are not specified in the filter will not be considered, which will improve performance. Often you know that you are only interested in configurations where, for example, the wrist is in front of axis 1. , forRobotHold property is used to determince if the tool is stationary or held by the robot.
bool	includeTurns	Only the base configurations will be returned if this parameter is set to false. If true, the turns of the base configurations will be added.

Returns

Type	Description
Task<ConfigurationData[]>	An array of ConfigurationData with which the mechanism can reach the specified target.

View Source

GetAllConfigurationsAsync(bool)

Returns reachable arm configurations for the current pose.

Declaration

public Task<ConfigurationData[]> GetAllConfigurationsAsync(bool includeTurns)

Parameters

Type	Name	Description
bool	includeTurns

Returns

Type	Description
Task<ConfigurationData[]>

View Source

GetCalibrationPosition(int)

Returns the calibration transform for a joint.

Declaration

public Matrix4 GetCalibrationPosition(int jointIndex)

Parameters

Type	Name	Description
int	jointIndex

Returns

Type	Description
Matrix4	Calibration transform (relative to model zero position)

View Source

GetConfiguration()

Returns the current configuration.

Declaration

public ConfigurationData GetConfiguration()

Returns

Type	Description
ConfigurationData

View Source

GetConfiguration(double[])

Returns the configuration that corresponds to the given joint values.

Declaration

public ConfigurationData GetConfiguration(double[] jointValues)

Parameters

Type	Name	Description
double[]	jointValues

Returns

Type	Description
ConfigurationData

View Source

GetConfigurationAsync()

Returns the current configuration.

Declaration

public Task<ConfigurationData> GetConfigurationAsync()

Returns

Type	Description
Task<ConfigurationData>

View Source

GetConfigurationAsync(double[])

Returns the configuration that corresponds to the given joint values.

Declaration

public Task<ConfigurationData> GetConfigurationAsync(double[] jointValues)

Parameters

Type	Name	Description
double[]	jointValues

Returns

Type	Description
Task<ConfigurationData>

View Source

GetDenavitHartenbergParameters()

Gets the DenavitHartenbergParameters for all joints.

Declaration

public DenavitHartenbergParameters[] GetDenavitHartenbergParameters()

Returns

Type	Description
DenavitHartenbergParameters[]	An array with all DenavitHartenbergParameters or null when none are available.

Remarks

Denavit and Hartenberg parameters are only available for serial manipulators. The FlexPicker is an example of a cloosed loop manipulator for which the kinematics cannot be described using Denavit and Hartenberg parameters.

GetFlange(int)

Get a Flange to which other entities can be attached.

Declaration

public Flange GetFlange(int index)

Parameters

Type	Name	Description
int	index	The index of the flange to be retrieved.

Returns

Type	Description
Flange	A Flange

View Source

GetFlanges()

Declaration

public Flange[] GetFlanges()

Returns

Type	Description
Flange[]

View Source

GetHomePosition()

Returns the defined home position in form of a collection of values. The number of values vary depending on the number of joints in the mechanism.

Declaration

public double[] GetHomePosition()

Returns

Type	Description
double[]	An array of home position for each joint.

View Source

GetJointLimits(double[], out double[], out double[])

Get joint limits given a set of joint values.

Declaration

public void GetJointLimits(double[] jointValues, out double[] minLimits, out double[] maxLimits)

Parameters

Type	Name	Description
double[]	jointValues	Joint values to use when evaluating limits. Must have length equal to NumActiveJoints
double[]	minLimits	Out parameter giving the minimum limits.
double[]	maxLimits	Out parameter giving the maximum limits.

View Source

GetJointLimits(out double[], out double[])

Get joint limits.

Declaration

public void GetJointLimits(out double[] minLimits, out double[] maxLimits)

Parameters

Type	Name	Description
double[]	minLimits	Out parameter giving the minimum limits.
double[]	maxLimits	Out parameter giving the maximum limits.

View Source

GetJointTransform(int)

Get the transform for a joint using the current joint values

The index of the joint for which the transform shall be retrieved. Must be a value between 0 and ABB.Robotics.RobotStudio.Stations.Mechanism.NumTotalJoints.Returns the transform of the specified joint, in Mechanism coordinates.

Declaration

public Matrix4 GetJointTransform(int jointIndex)

Parameters

Type	Name	Description
int	jointIndex

Returns

Type	Description
Matrix4

View Source

GetJointTransform(int, double[], out Matrix4)

Get the transform for a joint using specified joint values

The index of the joint for which the transform shall be retrieved. Must be a value between 0 and ABB.Robotics.RobotStudio.Stations.Mechanism.NumTotalJoints - 1.Returns the transform of the specified joint, in Mechanism coordinates.True on success

Declaration

public bool GetJointTransform(int jointIndex, double[] jointValues, out Matrix4 jointTransform)

Parameters

Type	Name	Description
int	jointIndex
double[]	jointValues
Matrix4	jointTransform

Returns

Type	Description
bool

View Source

GetJointTypes()

Get an array containing the type for each contained joint. For a mechanism with ABB.Robotics.RobotStudio.Stations.Mechanism.MechDef equal to null or without forward kinematics an empty array is returned.

Declaration

public JointType[] GetJointTypes()

Returns

Type	Description
JointType[]	An array with length 0 or an array with length equal to NumActiveJoints

View Source

GetJointValues()

Returns the current joint values.

Declaration

public double[] GetJointValues()

Returns

Type	Description
double[]

View Source

GetParentJoint(GraphicComponent, out int)

Returns the joint index of a link, or -1.

Declaration

public bool GetParentJoint(GraphicComponent link, out int jointIndex)

Parameters

Type	Name	Description
GraphicComponent	link	The link.
int	jointIndex	Zero-based joint index.

Returns

Type	Description
bool

View Source

GetParentLink(int, out GraphicComponent)

Returns the parent link of a joint.

Declaration

public bool GetParentLink(int jointIndex, out GraphicComponent link)

Parameters

Type	Name	Description
int	jointIndex	Zero-based joint index. Must be less than ABB.Robotics.RobotStudio.Stations.Mechanism.NumTotalJoints
GraphicComponent	link

Returns

Type	Description
bool

View Source

GetStaticJointLimits(out double[], out double[])

Get static joint limits.

Declaration

public void GetStaticJointLimits(out double[] minLimits, out double[] maxLimits)

Parameters

Type	Name	Description
double[]	minLimits	Out parameter giving the minimum limits.
double[]	maxLimits	Out parameter giving the maximum limits.

View Source

GetSyncPosition()

Returns the defined sync position in form of a collection of values. The number of values are 0-6 depending on the number of joints used for corresponding mechanism.

Declaration

public double[] GetSyncPosition()

Returns

Type	Description
double[]	An array of sync position for each joint.

View Source

GetToolDataInfo()

Returns the tool datas for a mechanism that is a tool.

Declaration

public ToolDataInfo[] GetToolDataInfo()

Returns

Type	Description
ToolDataInfo[]

View Source

GetTransitionTimes()

Gets transition times.

Declaration

public Dictionary<string[], double> GetTransitionTimes()

Returns

Type	Description
Dictionary<string[], double>	A dictionary mapping pairs of position names to transition times.

View Source

GetUserDefinedJointPositions()

Get user defined joint positions.

Declaration

public Dictionary<string, double[]> GetUserDefinedJointPositions()

Returns

Type	Description
Dictionary<string, double[]>	A dictionary containing user defined joint positions.

View Source

InsideLimits(double[])

Evaluates if a set of joint values are inside the joint limits.

Declaration

public bool InsideLimits(double[] jointValues)

Parameters

Type	Name	Description
double[]	jointValues	Joint values, must have length equal to NumActiveJoints

Returns

Type	Description
bool	Returns true if inside joint limits.

View Source

MoveToPose(string)

Moves the mechanism to a named pose.

Declaration

public bool MoveToPose(string jointPosition)

Parameters

Type	Name	Description
string	jointPosition	The name of the pose.

Returns

Type	Description
bool	True if successful.

View Source

SetActiveJoints(int[])

This method sets the indices of the joints used by this mechanism, as an array of integers. The length of the array depends on how many joints are used. Some mechanism models has less than six axis.

Declaration

public void SetActiveJoints(int[] jointMask)

Parameters

Type	Name	Description
int[]	jointMask	The indices of the joints used by this mechanism.

Exceptions

Type	Condition
ArgumentException
ArgumentNullException

SetHomePosition(double[])

Declaration

public void SetHomePosition(double[] jointValues)

Parameters

Type	Name	Description
double[]	jointValues

View Source

SetJointLimits(int, double, double)

Sets the joint limits for a joint.

Declaration

public bool SetJointLimits(int jointIndex, double minLimit, double maxLimit)

Parameters

Type	Name	Description
int	jointIndex	The index of the joint.
double	minLimit	The minimum limit.
double	maxLimit	The maximum limit.

Returns

Type	Description
bool

View Source

SetJointModelOffset(int, double)

Sets an offset between the joint value and the nominal kinematic model for a joint. This can be used to modify the zero position of the mechanism.

Declaration

public void SetJointModelOffset(int jointIndex, double jointOffset)

Parameters

Type	Name	Description
int	jointIndex
double	jointOffset

Remarks

This will only affect forward kinematics. Inverse kinematics uses the virtual controller which is assumed to take the offset into account internally. Joint limits are assumed to be adjusted accordingly by using SetJointLimits(int, double, double).

View Source

SetJointValues(double[], bool)

Sets the mechanism joint values and updates joint values in the VC.

Declaration

public bool SetJointValues(double[] jointValues, bool updateController)

Parameters

Type	Name	Description
double[]	jointValues
bool	updateController

Returns

Type	Description
bool	True if the joint values are valid.

View Source

SetJointValues(double[], bool, bool)

ABB Internal use

Declaration

public bool SetJointValues(double[] jointValues, bool updateController, bool notify)

Parameters

Type	Name	Description
double[]	jointValues
bool	updateController
bool	notify

Returns

Type	Description
bool

View Source

SetJointValues(double[], bool, double)

ABB Internal use

Declaration

[Obsolete("No longer supported")]
public bool SetJointValues(double[] jointValues, bool updateController, double timeStamp)

Parameters

Type	Name	Description
double[]	jointValues
bool	updateController
double	timeStamp

Returns

Type	Description
bool

View Source

SetJointValuesAsync(double[], bool)

Sets the mechanism joint values and asynchronously updates joint values in the VC.

Declaration

public Task<bool> SetJointValuesAsync(double[] jointValues, bool updateController)

Parameters

Type	Name	Description
double[]	jointValues
bool	updateController

Returns

Type	Description
Task<bool>	True if the joint values are valid.

View Source

SetJointValuesInternal(double[], double, bool)

ABB Internal use

Declaration

public bool SetJointValuesInternal(double[] jointValues, double timeStamp, bool notify)

Parameters

Type	Name	Description
double[]	jointValues
double	timeStamp
bool	notify

Returns

Type	Description
bool

View Source

SetSyncPosition(double[])

Sets the defined sync position in form of a collection of values. The number of values are 0-6 depending on the number of joints used for corresponding mechanism.

Declaration

public void SetSyncPosition(double[] jointValues)

Parameters

Type	Name	Description
double[]	jointValues

View Source

SetTransitionTimes(Dictionary<string[], double>)

Sets transition times.

Declaration

public void SetTransitionTimes(Dictionary<string[], double> value)

Parameters

Type	Name	Description
Dictionary<string[], double>	value	A dictionary mapping pairs of position names to transition times.

View Source

SetUserDefinedJointPositions(Dictionary<string, double[]>)

Sets user defined joint positions.

Declaration

public void SetUserDefinedJointPositions(Dictionary<string, double[]> value)

Parameters

Type	Name	Description
Dictionary<string, double[]>	value	A dictionary containing user defined joint positions. Each array should have the same length as NumActiveJoints

Events

View Source

AnyJointValuesChanged

Declaration

public static event EventHandler AnyJointValuesChanged

Event Type

Type	Description
EventHandler

View Source

JointValuesChanged

Declaration

public event EventHandler JointValuesChanged

Event Type

Type	Description
EventHandler

View Source

TargetReachEvent

Declaration

[Obsolete("No longer supported")]
public event EventHandler TargetReachEvent

Event Type

Type	Description
EventHandler

Implements

IHasTransform

IHasFrames

IAttachableChild

ISupportCopy

IHasGraphicComponents