zub path curves 4.0 - Robotic kinematics in n-dimensional space

zub has added kinematic commands to both the APOSS path editor and the Motion Control Library for effectively programming and controlling,

by means of compact commands, not only X/Y tables but also other kinematics in multi-dimensional space, such as Scara and delta robots.

The Kinematic Library contains commands for translation, rotation, scaling, reflection and stretching. These commands considerably facilitate and speed up the programming of complex path curves. Programmers themselves no longer need to work out the transformations, but only define them. The commands perform the conversion of path coordinates to machine coordinates.

Commands like PATHSTART, PATHVEL, etc., start the path traversal. The user need not bother about the conversion to axis curves, since the control system interpolates the trajectory during execution and then automatically carries out the transformation to axis coordinates.

The path curves are created with the graphic APOSS path editor. From a series of „fixed points,“ APOSS generates a smoothed path precisely leading through the fixed points. „Smoothed“ means that speed and acceleration do not change on reaching and leaving the fixed point.

APOSS supports the 3D path open cyclic, closed cyclic and non-cyclic by, for example, ensuring that in cyclical paths the speed and acceleration at the start and end of the path match.

Besides the paths defined by spatial (X, Y, Z) axes, APOSS also supports non-spatial axes as are required for rotating tools and controlling laser intensity. Currently up to 10 dimensions can be defined.

The control systems of the MACS5 series are employed according to the given kinematic type – Cartesian, H-Bot, Scara, Delta, CoreXY or Stewart platform. For example, the Master MACS can be used for up to 32 axes.

Since the dynamic curve computation and speed variation occur in real time during traversal, the path curves can be modified on the fly, either holistically for product variants (scaling, rotation, mirroring) or only at individual points, if need be. This allows full flexibility in the production process and quick corrections in case of an event.

zub is pursuing a consistent principle of reference and coordinate systems: if the axis and machine coordinates are defined, they are spatially assigned to the workpiece or tool coordinates. The conditions are then created once only for traversing arbitrary path curves. The zub software is consequently also suitable particularly for applications in which paths are precisely known only at the time of execution and only then can be defined, or if the path control system must be flexibly adapted to the application or integrated in the internal application.

APOSS offers complete support for paths, from the initial design and layout to the inspection of results in the production environment.


More informationen (only in german):
Fachartikel APOSS Path-Editor
Motion Control Praxis „Gravur-Maschine“

Download Press Note „Robotic kinematics in n-dimensional space".