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2023-11-08T11:53:28Z

Created page with "{| style="width:50%" |- | width="20%" style="color:gray;" | Author | Matrix TSL |- | width="20%" style="color:gray;" | Version | 1.0 |- | width="20%" style="color:gray..."

New page

{| style="width:50%"
|-
| width="20%" style="color:gray;" | Author
| Matrix TSL
|-
| width="20%" style="color:gray;" | Version
| 1.0
|-
| width="20%" style="color:gray;" | Category
| Mechatronics
|}

==Kinematics Arm component==
Demonstrates the principals of kinematics using a user configurable robot arm. Provides full simulation of the movements of the arm and the calculations of the axis positions and rotations.

==Component Source Code==

Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_KinematicsArm.fcfx FC_Comp_Source_KinematicsArm.fcfx]

Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_KinematicsArm.fcfx FC_Comp_Source_KinematicsArm.fcfx]

==Detailed description==

''No detailed description exists yet for this component''

==Examples==

Example program showing how to take data and encode it into a JSON string to be sent out over comms.

The example also hows how to decode a received JSON string and pull out values.

{{Fcfile|JSON_Demo.fcfx|JSON_Demo}}

==Macro reference==

===ForwardKinematics===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ForwardKinematics'''
|-
| colspan="2" | Uses the current joint angles and positions to calculate the XYZ and rotation of each of the subsequent linking joints. 
|-
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}

===GetJointPosition===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetJointPosition'''
|-
| colspan="2" | Gets the XYZ position of the selected joint axis. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Axis
|-
| colspan="2" | Range: 0 to NumAxis where NumAxis = end tool location 
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | XYZ
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}

===GetJointRotation===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetJointRotation'''
|-
| colspan="2" | Gets the XYZ rotation of the selected joint axis. 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Axis
|-
| colspan="2" | Range: 0 to NumAxis where NumAxis = End tool 
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | XYZ
|-
| colspan="2" |  
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}

===SetGripper===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetGripper'''
|-
| colspan="2" | Open or close the gripper 
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Position
|-
| colspan="2" | 0=Fully Closed, 255=Fully Open 
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}

===SetJoint===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetJoint'''
|-
| colspan="2" | Sets the angle or translation of the specified joint axis.  
|-
|-
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
| width="90%" | Axis
|-
| colspan="2" | Range: 0 to NumAxis -1 
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="90%" | Value
|-
| colspan="2" | Angle or dimension 
|-
| width="10%" align="center" | [[File:Fc9-bool-icon.png]] - BOOL
| width="90%" | Type
|-
| colspan="2" | 0=Absolute, 1=Incremental 
|-
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
| width="90%" style="border-top: 2px solid #000;" | ''Return''
|}

==Property reference==

{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
|-
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Number of axis
|-
| colspan="2" |  
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis 0
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Axis Type
|-
| colspan="2" | Sets the movement type of the axis 
|-
| width="10%" align="center" | [[File:Fc9-type-2-icon.png]]
| width="90%" | Colour
|-
| colspan="2" | Specifies the fill colour of the shape 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
|-
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis 1
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Axis Type
|-
| colspan="2" | Sets the movement type of the axis 
|-
| width="10%" align="center" | [[File:Fc9-type-2-icon.png]]
| width="90%" | Colour
|-
| colspan="2" | Specifies the fill colour of the shape 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
|-
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis 2
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Axis Type
|-
| colspan="2" | Sets the movement type of the axis 
|-
| width="10%" align="center" | [[File:Fc9-type-2-icon.png]]
| width="90%" | Colour
|-
| colspan="2" | Specifies the fill colour of the shape 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
|-
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis 3
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Axis Type
|-
| colspan="2" | Sets the movement type of the axis 
|-
| width="10%" align="center" | [[File:Fc9-type-2-icon.png]]
| width="90%" | Colour
|-
| colspan="2" | Specifies the fill colour of the shape 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
|-
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis 4
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Axis Type
|-
| colspan="2" | Sets the movement type of the axis 
|-
| width="10%" align="center" | [[File:Fc9-type-2-icon.png]]
| width="90%" | Colour
|-
| colspan="2" | Specifies the fill colour of the shape 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
|-
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis 5
|-
|-
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
| width="90%" | Axis Type
|-
| colspan="2" | Sets the movement type of the axis 
|-
| width="10%" align="center" | [[File:Fc9-type-2-icon.png]]
| width="90%" | Colour
|-
| colspan="2" | Specifies the fill colour of the shape 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
|-
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | d
|-
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | Theta
|-
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | a / r
|-
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
|-
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" | alpha
|-
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Gripper
|-
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Show Gripper
|-
| colspan="2" |  
|-
| width="10%" align="center" | [[File:Fc9-type-1-icon.png]]
| width="90%" | Colour
|-
| colspan="2" |  
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Link Mechanics
|-
|-
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
| width="90%" | Show Links
|-
| colspan="2" | Determines if the links between axis are shown. 
|-
| width="10%" align="center" | [[File:Fc9-type-2-icon.png]]
| width="90%" | Link Colour
|-
| colspan="2" |  
|}

@@ Line 27: / Line 27: @@
 ==Examples==
-Example program showing a siz axis robot arm with a gripper, controlled using sliders on the 2d panel.
+Example program showing a six axis robot arm with a gripper, controlled using sliders on the 2d panel.
 {{Fcfile|KinematicsArmDemo.fcfx|Kinematics Arm Demo}}
 ==Macro reference==

← Older revision		Revision as of 11:57, 8 November 2023
Line 27:		Line 27:
	==Examples==		==Examples==

−	Example program showing ~~how to take data and encode it into~~ a ~~JSON string to be sent out over comms.~~	+	Example program showing a siz axis robot arm with a gripper, controlled using sliders on the 2d panel.
−
−	~~The example also hows how to decode~~ a ~~received JSON string and pull out values.~~
−
−	~~{{Fcfile\|JSON_Demo~~.~~fcfx\|JSON_Demo}}~~
−
−

		+	{{Fcfile\|KinematicsArmDemo.fcfx\|Kinematics Arm Demo}}

Component: Kinematics Arm (Mechatronics) - Revision history

Wiki bot at 11:42, 26 November 2024

BenR: /* Property reference */

Wiki bot at 15:07, 5 December 2023

BenR: /* Examples */

BenR: /* Property reference */

Wiki bot at 12:35, 8 November 2023

BenR: /* Property reference */

BenR at 11:57, 8 November 2023

Wiki bot: Created page with "{| style="width:50%" |- | width="20%" style="color:gray;" | Author | Matrix TSL |- | width="20%" style="color:gray;" | Version | 1.0 |- | width="20%" style="color:gray..."