Would make kinematics challenge. The line (no. four in9Figure of 17 receives data around the

Would make kinematics challenge. The line (no. four in9Figure of 17 receives data around the position of your surface activity space, i.e., within the xO yconstant force. TCP inside the from the workpiece with a O zO technique. Figure 6a 6a) and press the tool against shows the individual frames of reference. four.1. Controller Configuration A workobject was defined within the robot controller memory, i.e., the user reference program , relative to which the TCP position will be determined. The tooldata variable was also defined, containing details about the position of TCP ( ) in relation for the manipulator flange too as the weight of your tool as well as the place of its center of gravity. The EGM method was configured to run in Position Guidance mode with the option to control the TCP position (with no orientation transform) within the flat frame of reference of the user. This configuration enables the manipulator to become controlled within the set plane, excluding motion control in the path from the axis. The robot controller calculates the answer on the inverse and straightforward kinematics trouble. The external controller receives data on the position of TCP in the task space, i.e., within the program. Figure 6a shows the person frames of reference.(a)(b)Figure 6. The scheme with the experiment: (a)(a) Arrangement of coordinate systems test the test stand; (b) handle strategy Figure 6. The scheme of the experiment: Arrangement of coordinate systems around the on stand; (b) manage approach diagram. diagram.Configuration and commissioning on the EGM are performed in a system launched on the IRC5 robot controller. For the experiment, a plan was written that set the manipulator TCP for the starting point from the planned path (point A in Figure 6a), set the EGM(a)diagram.(b)Sensors 2021, 21, 7463 scheme from the experiment: (a) Arrangement of coordinate systems around the test stand; (b) control approach of 17 9 Figure six. TheConfiguration and commissioning from the EGM are performed inside a plan launched Configuration and commissioning of the EGM are performed inside a program launched around the IRC5 robot controller. For the experiment, a system was written that set the maon the IRC5 robot controller. For the experiment, a plan was written that set the nipulator TCP for the starting point of the planned path (point A in Figure 6a), set the EGM manipulator TCP towards the starting point in the planned path (point A in Figure 6a), set parameters, and waited for connection to an external device. At this point, the GYKI 52466 Protocol Simulink the EGM parameters, and waited for connection to an external device. At this point, the application running on the Pc can IQP-0528 Data Sheet establish a connection using the EGM and take manage Simulink application operating on the Pc can establish a connection using the EGM and take on the mechanical unit. control of your mechanical unit. four.two. Control Method Application in Simulink four.two. Manage System Application in Simulink In Simulink, a position orce control system was built, a diagram of which is shown In Simulink, a position orce handle system was built, a diagram of that is shown . . in Figure 7. The trajectory of force F , F and the trajectory of motion c , c (t) Figure 7. The trajectory of force of motion in nd ( t ), nd ( t ) and the trajectory nd ( t ), nd are transmitted to the input the controller. The set positional-force trajectory used in the are transmitted to the input ofof the controller. The set positional-force trajectory utilised in the experiment is shown in Figure.