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==Kinematics Arm component==
==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.
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==
==Detailed description==
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==Examples==
==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}}
{{Fcfile|KinematicsArmDemo.fcfx|Kinematics Arm Demo}}




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===ForwardKinematics===
===ForwardKinematics===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ForwardKinematics'''
| width="90%" class="mtx-class-macrohead" | '''ForwardKinematics'''
|-
|-
| colspan="2" | Uses the current joint angles and positions to calculate the XYZ and rotation of  each of the subsequent linking joints. 
| colspan="2" | Uses the current joint angles and positions to calculate the XYZ and rotation of  each of the subsequent linking joints. 
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===GetJointPosition===
===GetJointPosition===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetJointPosition'''
| width="90%" class="mtx-class-macrohead" | '''GetJointPosition'''
|-
|-
| colspan="2" | Gets the XYZ position of the selected joint axis. 
| colspan="2" | Gets the XYZ position of the selected joint axis. 
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| width="90%" | Axis
| width="90%" | Axis
|-
|-
| colspan="2" | Range: 0 to NumAxis where NumAxis = end tool location 
| colspan="2" | Range: 0 to NumAxis-1 where NumAxis-1 = end tool location 
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
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===GetJointRotation===
===GetJointRotation===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetJointRotation'''
| width="90%" class="mtx-class-macrohead" | '''GetJointRotation'''
|-
|-
| colspan="2" | Gets the XYZ rotation of the selected joint axis. 
| colspan="2" | Gets the XYZ rotation of the selected joint axis. 
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| width="90%" | Axis
| width="90%" | Axis
|-
|-
| colspan="2" | Range: 0 to NumAxis where NumAxis = End tool 
| colspan="2" | Range: 0 to NumAxis-1 where NumAxis-1 = end tool location 
|-
|-
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
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===SetGripper===
===SetGripper===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetGripper'''
| width="90%" class="mtx-class-macrohead" | '''SetGripper'''
|-
|-
| colspan="2" | Open or close the gripper 
| colspan="2" | Open or close the gripper 
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===SetJoint===
===SetJoint===
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-comp-macro.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetJoint'''
| width="90%" class="mtx-class-macrohead" | '''SetJoint'''
|-
|-
| colspan="2" | Sets the angle or translation of the specified joint axis.  
| colspan="2" | Sets the angle or translation of the specified joint axis.  
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==Property reference==
==Property reference==


{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
{| class="mtx-class-macrotable wikitable"
|-
|-
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-prop-icon.png]]
| width="10%" align="center" class="mtx-class-macrohead" | [[File:Fc9-prop-icon.png]]
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Properties'''  
| width="90%" class="mtx-class-macrohead" | '''Properties'''  
|-
|-
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis
| width="90%" class="mtx-class-propfolder" | Axis
|-
|-
|-
|-
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| colspan="2" |  
| colspan="2" |  
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis 0
| width="90%" class="mtx-class-propfolder" | Axis 0
|-
|-
|-
|-
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| colspan="2" | Specifies the fill colour of the shape 
| colspan="2" | Specifies the fill colour of the shape 
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
| width="90%" class="mtx-class-propfolder" | DH Parameters
|-
|-
|-
|-
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| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
| 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="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis 1
| width="90%" class="mtx-class-propfolder" | Axis 1
|-
|-
|-
|-
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| colspan="2" | Specifies the fill colour of the shape 
| colspan="2" | Specifies the fill colour of the shape 
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
| width="90%" class="mtx-class-propfolder" | DH Parameters
|-
|-
|-
|-
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| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
| 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="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis 2
| width="90%" class="mtx-class-propfolder" | Axis 2
|-
|-
|-
|-
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| colspan="2" | Specifies the fill colour of the shape 
| colspan="2" | Specifies the fill colour of the shape 
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
| width="90%" class="mtx-class-propfolder" | DH Parameters
|-
|-
|-
|-
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| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
| 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="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis 3
| width="90%" class="mtx-class-propfolder" | Axis 3
|-
|-
|-
|-
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| colspan="2" | Specifies the fill colour of the shape 
| colspan="2" | Specifies the fill colour of the shape 
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
| width="90%" class="mtx-class-propfolder" | DH Parameters
|-
|-
|-
|-
Line 313: Line 308:
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
| 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="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis 4
| width="90%" class="mtx-class-propfolder" | Axis 4
|-
|-
|-
|-
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| colspan="2" | Specifies the fill colour of the shape 
| colspan="2" | Specifies the fill colour of the shape 
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
| width="90%" class="mtx-class-propfolder" | DH Parameters
|-
|-
|-
|-
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| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
| 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="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Axis 5
| width="90%" class="mtx-class-propfolder" | Axis 5
|-
|-
|-
|-
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| colspan="2" | Specifies the fill colour of the shape 
| colspan="2" | Specifies the fill colour of the shape 
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
| width="90%" class="mtx-class-propfolder" | 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="10%" align="center" | [[File:Fc9-type-15-icon.png]]
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| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
| 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="10%" align="center" | [[File:Fc9-type-15-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Gripper
| 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" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" class="mtx-class-propfolder" | Gripper
|-
|-
|-
|-
Line 403: Line 678:
| colspan="2" |  
| colspan="2" |  
|-
|-
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
| width="10%" align="center" class="mtx-class-propfolder" | [[File:Fc9-conn-icon.png]]
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Link Mechanics
| width="90%" class="mtx-class-propfolder" | Link Mechanics
|-
|-
|-
|-
Line 417: Line 692:
| colspan="2" |  
| colspan="2" |  
|}
|}
==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]

Latest revision as of 14:37, 13 July 2026

Author Matrix TSL
Version 1.0
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.

Detailed description

No detailed description exists yet for this component

Examples

Example program showing a six axis robot arm with a gripper, controlled using sliders on the 2d panel.

Kinematics Arm Demo


Macro reference

ForwardKinematics

ForwardKinematics
Uses the current joint angles and positions to calculate the XYZ and rotation of each of the subsequent linking joints. 
- VOID Return


GetJointPosition

GetJointPosition
Gets the XYZ position of the selected joint axis. 
- BYTE Axis
Range: 0 to NumAxis-1 where NumAxis-1 = end tool location 
- FLOAT XYZ
 
- VOID Return


GetJointRotation

GetJointRotation
Gets the XYZ rotation of the selected joint axis. 
- BYTE Axis
Range: 0 to NumAxis-1 where NumAxis-1 = end tool location 
- FLOAT XYZ
 
- VOID Return


SetGripper

SetGripper
Open or close the gripper 
- BYTE Position
0=Fully Closed, 255=Fully Open 
- VOID Return


SetJoint

SetJoint
Sets the angle or translation of the specified joint axis.  
- BYTE Axis
Range: 0 to NumAxis -1 
- FLOAT Value
Angle or dimension 
- BOOL Type
0=Absolute, 1=Incremental 
- VOID Return


Property reference

Properties
Axis
Number of axis
 
Axis 0
Axis Type
Sets the movement type of the axis 
Colour
Specifies the fill colour of the shape 
DH Parameters
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Axis 1
Axis Type
Sets the movement type of the axis 
Colour
Specifies the fill colour of the shape 
DH Parameters
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Axis 2
Axis Type
Sets the movement type of the axis 
Colour
Specifies the fill colour of the shape 
DH Parameters
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Axis 3
Axis Type
Sets the movement type of the axis 
Colour
Specifies the fill colour of the shape 
DH Parameters
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Axis 4
Axis Type
Sets the movement type of the axis 
Colour
Specifies the fill colour of the shape 
DH Parameters
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Axis 5
Axis Type
Sets the movement type of the axis 
Colour
Specifies the fill colour of the shape 
DH Parameters
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Gripper
Show Gripper
 
Colour
 
Link Mechanics
Show Links
Determines if the links between axis are shown. 
Link Colour
 

Component Source Code

Please click here to download the component source project: FC_Comp_Source_KinematicsArm.fcfx

Please click here to view the component source code (Beta): FC_Comp_Source_KinematicsArm.fcfx

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