2/13/2023 0 Comments Abb robotstudio gripper model![]() The system dynamics can be modeled with different levels of fidelity, depending on the aim of the overall model.įor this example, during the task scheduler design, the aim is to ensure the scheduler behaves correctly under the assumption that the robot is under stable motion control. ![]() This defines how the robot moves given a set of reference trajectories and a boolean gripper command (open or closed). The system dynamics portion models the robot behavior. ![]() This includes the robot configuration state at any instant, what the goal position is, whether the gripper should be open or closed, and the current trajectory being sent to the robot. The task scheduling and trajectory generation portion defines how the robot traverses through the states.
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