Initializes a new instance of the Mechanism class

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

Returns a collection of dynamic attributes attached to the object

Enumerates all child objects.

Gets or sets a ClipPlane that will hide all geometry in the negative z space of its transform.

Gets or sets the color of the object in the graphics.

Returns the Project that this object is a part of, or null if it is not part of a Project.

Gets or sets a value indicating the the component can be detected by sensors.

Gets the name of the the object that should be displayed in the GUI.

Gets a FrameCollection object that represents all the Frames on this object.

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

Returns the GraphicComponentLibrary that contains the definition of this component, or null.

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

Gets the type.

Returns the nominal base frame of this model

Gets the name of the model.

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

Gets or sets the name of the object

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.

Gets or sets the opacity of the object.

The Parent property returns a reference to the parent GraphicComponent object.

Gets or sets if the component can be picked and selected in 3D graphic windows.

Gets the associated RsTask.

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

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

Gets the Transform of the object.

Gets a localized name for the type of this object.

Gets or sets a value that indicates if this object should be displayed in GUI such as an object browser.

Gets a persisted, globally unique identifier for this object, that can be used to find the object using the GetObjectFromUniqueId(String) method.

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.

Gets or sets whether the object should be displayed in the graphics or not.

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

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

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

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.

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

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

Calculate inverse kinematics from a pose.

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.

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

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

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.

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.

Removes the graphical trace of the TCP.

Creates a deep copy of the object.

Creates a copy but keeps a connection to the definition of the GraphicComponent, typically in a Library definition.

This method is for internal use only.

Deletes this object permanently.

Recursively deletes all CAD geometry.

Moves the definition to the Station or Project. This causes the Library property to return Null.

Exports this to an XML file

Exports this to an XML file

Recursively finds object that satisfy a condition.

This method returns 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 mechnism models have less than six axis. The indices can be used together with the result from GetJointValues

Returns reachable arm configurations for the specified move instruction.

Returns reachable arm configurations for the specified target.

Returns reachable arm configurations for the current pose.

Returns reachable arm configurations for the specified move instruction.

Returns reachable arm configurations for the specified target.

Returns reachable arm configurations for the specified target.

Computes the (axis-aligned) bounding box for this object.

Computes the (axis-aligned) bounding box for this object.

Returns the calibration transform for a joint.

Returns the current configuration.

Returns the configuration that corresponds to the given joint values.

Gets the DenavitHartenbergParameters for all joints.

Get a Flange to which other entities can be attached.

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.

Get joint limits.

Get joint limits given a set of joint values.

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 NumTotalJoints.

Return Value

Type: 
Returns the transform of the specified joint, in Mechanism coordinates.

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 NumTotalJoints - 1.Returns the transform of the specified joint, in Mechanism coordinates.

Return Value

Type: 
True on success

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

Returns the current joint values.

Calculates the closest point and the corresponding normal.

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

Returns the parent link of a joint.

Get static joint limits.

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.

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

Gets transition times.

Get user defined joint positions.

Highlights the object using the default highlight style and color.

Highlights the object using a specified color.

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

Moves the definition to a new Library.

Moves the mechanism to a named pose.

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.

Sets the joint limits for a joint.

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.

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

ABB Internal use

ABB Internal use

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

ABB Internal use

Sets the material of the object.

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.

Sets transition times.

Sets user defined joint positions.

Calculates the closest point and the corresponding normal.