Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- integration:rps [2021/09/10 00:13] – [Target Channels] oliver
+++ integration:rps [2021/09/10 09:26] (aktuell) – [Target Channels] oliver
@@ Zeile 6: / Zeile 6: @@
 ^ name ^ Type ^ Unit ^ Description ^
-^ URAngle0 | ANGLE | rad | Joint angle |
+^ URAngle<0-5> | ANGLE | rad | Measured joint angle by the encoders. These can differ from target angles, if the robot is controlled by angles. The angels does not include offset by Denavit-Hartenberg systems calibration. **Because the angles are actual angles these channels should be moved to the actual-channels-element. TODO** |
-^ v<0-2> | POSITION | m | The position of the TCP in cartesian world coordinates. In case the template has a PointRobot input parameter (a relative transform from the default tool center point to a custom TCP specific to this template), this equals the position of the PointRobot frame in world coordinates. If the template doesn't have a PointRobot input parameter, the "global TCP" aka the TCP configured in the robot configurator of the RPS is used.
+^ v<0-2> | POSITION | m | The position of the TCP in cartesian world coordinates. In case the template has a PointRobot input parameter (a relative transform from the default tool center point to a custom TCP specific to this template), this equals the position of the PointRobot frame in world coordinates. If the template doesn't have a PointRobot input parameter, the "global TCP" aka the TCP configured in the robot configurator of the RPS is used. **Summary:** This is the position of the resulting TCP in world coordinates after all relevant transformations have been applied to the TCP. You will want to use this one 90% of the time. Read from "program_TCP" of the RPSWebsocket.|
-Summary: This is the position of the resulting TCP in world coordinates after all relevant transformations have been applied to the TCP. You will want to use this one 90% of the time.
-Read from "program_TCP" of the RPSWebsocket.|
 ^ q<0-3> | ROTATION_QUATERNION | | Read from "program_TCP" of the RPSWebsocket. |
 ^ T | TIMESTAMP | ms | |
@@ Zeile 17: / Zeile 13: @@
 === Actual Channels ===
+^ name ^ Type ^ Unit ^ Description ^
+^ URt<0-5> | TEMPERATURE | °C | Temperature in the joints |
+^ T | TIMESTAMP | ms | |
 === Example ===
 <code xml>