13 CAT
Contents
1. KISMET User Manual Page 71 CAT e LM Change DIST attribute e MM Change FOVY attribute e BM No function MAIN view The main simulation display large viewport is connected with the current position of the active camera This function is particulary useful for the generation of animation sequences here the camera is defined as a robot and can be controlled by a robot program or for simu lation of camera views in training or monitoring applications The byrdseye view parame ter dataset will be modified automatically when this command is active 13 2 3 Framegrabber Control This subpanel is used for video framegrabber control This mode requires the realtime frame grabber Live Video Digitizer Indy Camera Galileo Board etc option in your graphics hard ware and the videolab software subsystem installed on your workstation The submenu allows optionally the display of a video window or an overlay of a KISMET wireframe model display on top of the scanned video camera image This latter functionality can be useful for model ve rification against the real workcell and to some extent geometry editing Video Overlay ON OFF Enable disable the realtime video display A realtime video channel is opened to the current system video device as selected in the SGI system program videopanel The video image is rendered on top of the synthetetic workcell view The video input signal is rendered once per frame cycle i e the framer2. e torque spring stiff spring constant of the torque springs of inner knots defined in Nm maintains the global orientation of the knot e Show Parts The components of all elastodynamic objects are shown Mass knots are drawn as coloured tetraeders with their specific number the colour is dependend from their interaction status springs are drawn as green lines Additionally the sum of the inner forces of each mass knot are shown as red vectors and the shift of the mass knots relative to there equilibrium positi ons ist displayed in orange The direction of each inner knot is visualized as a blue arrow e Save ElaDyn P_GEO The selected elastodynamic part is saved in a Kismet geo file mpo The name of the file must be specified in the textport e Quit The submenu is been closed 15 2 2 Edit NURB This submenu is used to manipulate geometric primitives of the id 80 KISMET Geometry Specification NURBS as well as id 90 KISMET Geometry Specification ELADYN_NURBS NURBS Non Uniform Rational B Spline Surface are free form surface represented by a matrix of characteristic points the controlpoints The shape of the geometry can be influenced by shifting the positions of the controlpoints The Edit NURBS Submenu is located under the main menu MODELS Edit GEO Modify NURB Geonetry Pick CP Move CP Move ROW Move COL Write NURB DRAWMODE DONE Figure 49 Edit NURB For some oper
3. Leads to the Controllers sub menu See chapter 16 3 4 1 The Controller Panel for details e Initial Conditions Leads to the Initial Conditions sub menu See chapter 16 3 3 Dynamics Options sub menu for details e Integration method Selection of the integration method See chapter 16 3 3 Dynamics Options sub menu for KISMET User Manual Page 108 DYNAMICS details e Run Control Starts the simulation of the dynamic behaviour of the mechanism and its control system e Diagnostics e Velocity Limits e Control Limits 16 3 4 1 The Controller Panel The Position Control Velocity Control option uses a default PID control system With this sub menu the user can e select a P PI or PID control system and e change the default control parameters Figure 64 The Controller Panel After selection of either Position Control or Velocity Contro the default values are loaded by reading the con files from the directory kis_home mpdlib The filenames consist of the name of the Centre of Gravity frame type 60 and the suffix con If no files are available the user has to define them via textport e P Control Automatical loading of the P Control Parameter K or input via textport for each Joint e PI Control Automatic loading of the PI Control parameters K and T for each joint or input via text port KISMET User Manual Page 109 DYNAMICS PID Control Automatic loading of the PI Cont
4. EDIT FRAME CREATE FRAME submenu using the joint frame as kinematical predecessor KISMET User Manual Page 98 DYNAMICS located at the same position as the joint frame In the example shown in the previous chap ter c denotes the joint frame and c denotes the Deflected Joint Frame e Centre of Mass Frame Located at the centre of mass of a link using a frame of frame type 10 as predecessor this frame type is used to define certain material datas e g stiffness matrix modulus of elasticity mass etc Note the orientation of this frame has to be the same as that of the predecessor frame e Elastic Joint Frame Located at the position of the joint frames using a frame of type 10 as predecessor this frame is used to define the elasticity of the joints Note the orientation of this frame has to be the same as that of the predecessor frame The main steps of modeling are 1 Create a Deflected Joint Frame frametype 10 and connect it with the first joint frame to simulate deflections arising from joint elasticities Use the next joint frame as successor frame 2 Repeat step 1 for all joints 3 Create a Centre of Mass Frame frametype 60 and connect it at the Deflected Joint Frame created in step 1 4 Move Centre of Mass Frame to the center of gravity of the first link Take care that the orientation of the frame is the same as that of the predecessor Deflected Joint Frame 5 Create a Elastic Joint Fra
5. Load ABS Branch Another ABSTRACT branch is loaded from the model database and activated for display The memory required for model storage is allocated from the operating system The function is used to load a model part or detail level which is marked in the database mpc file with the W attribute wait or to reload parts which were deleted previously in the same simulation session Swap LEVEL Swap DETAIL Level This command loads activates the next detail level more detailed for the picked ABS Branch At the same time all GEO parts connected to the reference frame of the ABSTRACT are deactivated for display This is the current GEOMETRY of the ABSTRACT frame is replaced by a more detailed alternative geometry which is defined in the loaded ABSTRACT file mpc file More GLOBAL More Details This command is used to increase the detail level for the whole application model by one The command works similar like a set of Activate or Load Swap LEVEL commands Only it works with the whole model It is mainly for lazy operators Using this function there is no fine control concerning which parts to load activate swap or not You may find for some models that the performance is reduced drastically after using this command This can happen when to many parts more than expected are activated Save as Write ABS_FILE This function is used to save changes in the model to the file system After pi
6. WFRM at the target positions Successor A new kinematic successor FRAME is assigned to the picked FRAME This command is useful for joint types 2 and 3 These types are used within closed kinematic loops Add ABSTRACT A reference to another ABSTRACT file i e a subassembly a ROBOT or DEVICE mecha nism or another DETAIL level is added to the FRAME node In any case the ABSTRACT reference is in fact an mpc file The ABSTRACT file must already exist in the model database i e in kis_home mpclib The file is identified by picking in the file panel The user must specify the initial read status of the new ABSTRACT reference There are two choices either initial READ or WAIT This is e READ the file is opened immediately all substructes are loaded and activated for dis play e WAIT only the reference to the file name is added to the model tree The new file will be loaded on user request For this refer to the commands e Activate Load e Swap LEVEL More GLOBAL in the DETAIL submenu Similar commands are available in the SCRIPT interface Print Nodename The fully qualified nodename of the FRAME is printed in the KISMET textport The node name is a list of all FRAME names from the model root ROOT FRAME to the selected FRAME The frame names are separated by a dot The full qualified nodename is used in SCRIPT files to uniquely identify a FRAME or ABSTRACT node This naming conven tion is nec
7. any other case the stiffness matrix has to be defined by the user Both cases will be handled in the Create Frame submenu Notice that for the modeling of the flexibility of the joints a file with the suffix stf will be generated as well Due to the modeling of joints as springs this matrix has a diagonal form with the spring constants for the x y z directions as elements The geneated files will be saved if you use the Edit Abstract Write ABS FILE submenu in the directory mpdlib The filenames consist of the name of the links of type 60 or 61 with the KISMET User Manual Page 99 DYNAMICS suffixes stf and def The units used in the present version are N mm kg rad For the output on the screen grad is used For step 8 the starting of the real time calculating of the deflections press the L key Returning to the stiff case is enabled by pressing the L key again 16 2 Dynamics and Control Basics Kismet simulates the so called Inverse or Indirect Dynamic behaviour of a kinematic structure as well as the so called Direct Dynamics Inverse Dynamics means to calculate the necessary torques at the joints in order to get the desired behaviour of the joint variables Direct Dynamics means to calculate the behaviour of the joint variables due to given torques The In verse Dynamics feature enables the user to calculate and display the torques and force at joint level during execution o
8. following list of basic primitives is available in the Primitive submenu Figure 44 The Primitive Submenu The 2D geometry editor 2Ded is called for the interactive definition of the sweep contour when the SWEEP primitives are selected for modelling The contour is defined from seg ments using POLYLINE ARC and B SPLINE 2D modelling elements The 3D surface is formed by a translation linear sweep or rotation rotational sweep respectively See chapter 21 The 2Ded Editor for SWEEP Operations for details The newly created parts can be used with the BOOLEAN operations to form more compli cated GEO parts The results are saved as POLYHEDRON models DELETE The selected picked GEO is deleted from the datatree The operation is carried out in the runtime model To delete a part from the file system use the UNIX command rm Edit NURB Leads to the Edit Nurb submenu See chapter 15 2 2 Edit NURB DRAWMODE KISMET User Manual Page 82 MODEL Determines the drawmode for the picked GEO part GEO Drawmode Transparent Wirefrane Flat Shaded GOURAUD shaded Figure 45 GEO Drawmode e Transparent The picked GEO part is drawn in TRANSPARENT mode All other parts keep the previous drawing mode This function sets an attribute in the model datastructure This attribute is reset when a Drawmode command is executed Note The transpa rent drawing mode in KISMET is using the amp bitplanes On workstations w
9. of the KISMET User Manual Page 72 CAT video framegrabber during runtime See the videopanel 1 manual page of your SGI work station and the documentation of the Live Video Digitizer about further details about these parameters KISMET User Manual Page 73 14 DETAIL 14 1 Introduction to the KISMET DETAIL LEVEL Con cept This chapter describes the DETAIL submenu visible for the user while executing KISMET in the non full screen mode In full screen mode a different user interface using pop up menus will appear The corresponding menu names are surrounded by In KISMET a hierarchical recursive tree like data model is used The operator can specify in teractively and on line the level of detail to be displayed Components or model parts can be activated or deactivated for display at any time This allows to render higher levels of detail wi thout loss of realtime performance There is no logical limitation on the number of detail levels or model size Figure 36 shows the rendering of a flange assembly from the CATROB model in two different detail levels Figure 36 Workcell dipslay using DETAIL LEVELS A bounding box which is used to mark a non accesible area is rendered in the left picture whe reas the right image shows the detailed rendering of the flange assembly after switching the de tail level To achieve the detail leveling functionality in KISMET we use a hierarchical tree like struc ture of ABSTRACT fil
10. part along the X Y and Z axis Morphing Activates the interactive morphing funtion i e a linear interpolation of a geometric part into a similar part with different shape is performed Edit Flex Leads to the Edit Flex subpanel See chapter 15 2 1 Edit Flex READ This command inserts a GEO element into the model KISMET requests you to pick the reference FRAME for the new part The new element is connected to this FRAME To sel ect a certain GEO the File selction panel will pop up to offer you a selection of mpo files DUPLICATE KISMET User Manual Page 81 MODEL The function is used to copy the previously picked GEO element KISMET requests you to pick the reference FRAME for the copied part The instanced element is connected to this FRAME An identical copy instance of the part is used CREATE This command is used to create model a new 3D GEO part which is added to the model The selection of the GEO primitive is carried out in an upcoming submenu The parameters are entered in a form window A special form is available for each primitive The dimension for modelling is mm The new GEO part is connected to a reference FRAME KISMET will ask you to PICK the FRAME so make sure that the FRAME is visible in the current viewport when the CREATE command is used Each GEO part is stored as an ASCII file in the model database in the directory kis_home mpolib The standard suffix for GEO files is mpo The
11. this moment the recon nected FRAME and all its kinematic successors are kinematically connected the the new location This is the command is used to change the kinematic topology The placement of the reconnected frame in absolute workcell coordinates world is not modified through this function For example it is used when a tool exchange is to be performed Move the robot to the tool box and the location of the tool Then reconnect the reference FRAME of the tool with the toolbox reference system The tool will stay in the toolbox when you move the robot Next move the robot hand to the new tool at its location in the toolbox Reconnect the tool refe rence FRAME with the robot hand FRAME When the robot is moving the new tool will be connected with the robot hand connect GEO A GEO element is reconnected to a new reference FRAME The placement of the recon nected GEO in absolute workcell coordinates world is not modified through this function to WFRM This command is used to reconnect a FRAME with all its associated parts and objects to a KISMET User Manual Page 93 MODEL new reference system The target location is defined in this case by a workframe WFRM See also the Reconnect FRAME command You can use this function to perform a tool exchange without moving to the exact locations of the new reference positions of the FRAME assembly The reconnected FRAME will jump to the new reference location You have to define a
12. 13 CAT 13 1 Introduction to the CAT menu The CAT Computer Aided Teleoperation menu covers the Monitor and Master Mode of mechanisms the Simulation and Control of real and simulated cameras and e the Framegrabber control 13 2 The CAT Panel ACTIVATE nci ipe nfi ganiri ROXITOR Modin F WASTER Miia J OFF LAER Steel A Contre active bofl canera 1 View PYEnIN a OFF Zend IRTA i OFF Diat F oy WAIN Vich FRADE Lont ool UTED waring J oF GRAPHICS Georiny 1 OFF Faran HET RESET Figure 35 The CAT Panel 13 2 1 The Monitor Master Mode Buttons Activate Mechanism Selection of the active mechanism which can be a robot or any other kinematic structure The selected mechanism is displayed in the active field Monitor Mode ON OFF Toggle function for activation deactivation of the joint position sensor interface between KISMET and the real robot controller for the active robot This function switches to the monitoring mode In monitoring mode KISMET is using the joint position sensor data as provided by the real robot controller for synthetic image gene ration The workcell display will show the real robots position in the simulated workcell environment In this mode the KISMET display provides the visual interface for man in the loop control of telemanipulation operations or for surveillance of of automatic prepro grammed task sequences The default state is OFF Master Mo
13. 48 P_GEO Parameter Panel e geo knot mass mass of knots with geometrical link outer knots defined in kg e object mass mass of the whole elastodynamic object kg mass of all inner knots e knot damp damp factor of the elastodynamical mass knot defined in Ns m The damp force is proportional to the damp factor and the velocity of the refered knot e object damp damp factor of the elastodynamical system defined in Ns m Used for global movements e geo springs stiff spring constant of the springs which links the geometrical knots Two kinds of spring characteristics are implemented sconst gt 0 spring force is proportional to the spring length N m sconst lt 0 spring force is proportional to the quadratic spring length N m2 e basic springs stiff spring constant of the springs which force the knots to the original posi tons retursprings maintain the original shape of object Two kinds of spring characteristics are implemented sconst gt 0 spring force is proportional to the spring length N m sconst lt 0 spring force is proportional to the quadratic spring length N m2 KISMET User Manual Page 87 MODEL e object spring stiff spring constant of the springs with global links inner knots connections Two kinds of spring characteristics are implemented sconst gt 0 spring force is proportional to the spring length N m sconst lt 0 spring force is proportional to the quadratic spring length N m2
14. art The current GEO object is highlighted after identification PICK Edit Geometry GEO Pick CONFIRM Rotate Translate SCALE xyz SCALE all Morphing Edit FLEX READ DUPLICATE CREATE DELETE Figure 43 Edit GEO e Pick This command is used to start a PICK operation to identify the GEO part to be edited You KISMET User Manual Page 80 MODEL may PICK the part at its surface area However picking is faster if you use the picking REGION i e the little white square which is drawn approximately in the centre of the GEO part CONFIRM This command is used to confirm any changes during GEO placement editing Rotate and Translate These operations are carried out with local copies of the operand Rotate The GEO part is rotated in 3 dimensions relative to its reference FRAME A general 6 para meter transformation dx dy dz a B y is used by KISMET for the transformation e LM Change dg i e rotate GEO around X axis e MM Change fc i e rotate GEO around Y axis e BM Change yg i e rotate GEO around Z axis Translate The GEO part is translated relative to its reference FRAME in 3 dimensions e LM Translate GEO about d along FRAME X axis e MM Translate GEO about d along FRAME Y axis e BM Translate GEO about d along FRAME Z axis SCALE xyz Scales the GEO part along the e X Axis if LM is used e Y Axis if MM is used e Z Axis if BM is used SCALE all Scales the GEO
15. ate FRAME of the workcell simulation All relative motions of FRAMEs can be expressed by a chain of PLACEMENT transformations in WORLD coordinates KISMET User Manual Page 90 MODEL 15 3 2 The Edit Frame Panel The Edit FRAME submenu is used for local creation positioning and editing of sub assem bly references FRAMEs and actuated JOINTS It provides the basic functions for kinematic modelling In KISMET a FRAME can be a robot BASE JOINT or LINK reference coordinate system or simply a reference system for part assemblies The FRAMEs are grouped in a hierarchical mo del tree which builds the kinematical sceleton of the workcell All other objects and primitives such as GEO elements shape geometry robot TCP and ZP CAMERAs sensors workframes WERM the equivalent to the robot TCP on passive workcell parts etc are kinematically con nected to the FRAMEs In the first place a FRAME is the property of a 3D coordinate system Additionally each FRAME has a name identifier a reference to other FRAMEs for the defi nition of kinematics and assembly level topology and other parameters depending on the na ture of the FRAME Edit Parts FRAME Pick FRAME Pick GEO Rotate Translate Shon FRAMEs DRAWMODE CREATE Connect connect GEO to WFRM Successor Add ABSTRACT Print Nodename Figure 50 The Edit Parts FRAME Panel e Pick FRAME This command is used to start a PICK operation to id
16. ate of the video overley is the same as the workcell rendering framerate The default state of this function is OFF GRAPHICS Overlay Note You have to define a CAMERA to use this command The CAMERA overlay view port is used to display the FRAMEGRABBER images with the simulated CAMERA wiref rame overlay The active CAMERA view is used for the wireframe model overlay Toggles the overlay of the wireframe model drawing on top of the video image The video image is displayed in the CAMERA overlay viewport The simulated virtual CAMERA view is drawn in wireframe mode as an overlay on the scanned video image This is the function is possible only if at least one CAMERA is defined in the workcell model The simulated wireframe and the real image correspond if the view parameters of the simulated CAMERA are similar to the view attributes of the real camera These values have to be set once for the simulated CAMERA using the CAMERA submenu to set the FOVY parame ter and the motion commands to adjust the CAMERAs pitch roll yaw parameters If the virtual CAMERA is not actuated i e the CAMERA itself is not actuated or its actuators are not defined as a ROBOT in the KISMET model you can use the Edit FRAME commands to adjust the viewing position and direction of its reference FRAME RESET Resets the FRAMEGRABBER hardware to its default parameters Param SET This command displays a form window which allows to set all hardware parameters
17. ations the specific geo part must be identified first PICK Geo marked with P_GEO in following description other operations need a specified knot Pick CP marked with P_CP too The submenu consists of 7 buttons KISMET User Manual Page 88 MODEL Pick CP P_GEO A specific controlpoint of the NURBS Object can be selected After the identification of the GEO all controlpoints are highlighted white tetraeder The desired controlpoint can now be picked with the mouse left mouse button The coordinates of the point are printed out in the textport Move CP P_GEO P_CP The selected controlpoint can be moved by the mouse A horizontal movement shifts the controlpoint in x direction if the left mouse button is pressed in y direction if the middle mouse button is pressed in z direction if both mouse buttons are pressed The coordinates of the point are printed in the lower left edge of the viewport Move ROW P_GEO P_CP The whole row of the selected controlpoint can be moved by the mouse A horizontal movement shifts the row in x direction if the left mouse button is pressed in y direction if the middle mouse button is pressed in z direction if both mouse buttons are pressed Move COL P_GEO P_CP The whole column of the selected controlpoint can be moved by the mouse A horizontal movement shifts the column in x direction if the left mouse button is pressed in y direction if
18. cal chain connected by a revolute joint in the rigid and non rigid case The matrices A are the relative transformation matrices between two joints in the stiff case while the E denote the relative transformation matrix between a joint in the fle xible case and the same joint in the rigid case To enable KISMET to show both cases alternatively the rigid model of a robot or a kinematical chain has to be extended as shown in figrue 54 Two main steps have to be done by the user 1 A frame c must be created and connected with the frame c Frame c indicates the position and orientation of joint i in the rigid case while c is responsible for the nonrigid case 2 The order of succession of the frames has to be changed for the nonrigid case While frame cj is the predecessor of frame c in the rigid case frame Cc is the predecessor in the nonri gid case KISMET provides two data sets to calculate and show the robot in the rigid and non rigid case simultaniously In the next chapter the necessary steps for extending an existing robot model is shown in detail For further information about the kinematics of flexible links and joints see 39 40 41 or 42 16 1 2 Modeling 3 frame types to handle the modeling of a flexible robot have been implemented in KISMET e Deflected Joint Frame Showing the new deflected position and orientation with respect to the undeflected position and orientation This frame must be created using the
19. cking an ABSTRACT and the corresponding mpc file using the Pick Frame or Pick GEO command the identified ABSTRACT is written to the database Since an mpc file can have file references to other mpc files and one dof file the user has different options i 2 halkan ape 2_balken dof Figure 39 The Save as Panel e Update dof file The referenced dof file is checked and updated if necessary KISMET checks whether each moveable frame in the picked mpc file is referenced in the dof file or not If a moveable frame is not referenced the dof file will be updated using the following default values for frame No i lt menu_text gt name_of_ frame DOF lt outp_text gt Z_1 lt n_entries gt 1 lt type gt 0 KISMET User Manual Page 77 DETAIL n_const 1 lt const gt 0 1 see User Data Specification e Update mpc file The referenced mpc file will be updated e Update both The referenced dof and mpc file will be updated e Update none Only the picked mpc file will be updated none of the referenced mpc or dof file will be updated Save ROOT Write ABS Root File The ABSTRACT root i e the uppermost mpc file in the application model is written to the file system Unload Delete ABS Branch Deletes an ABSTRACT branch from the runtime database main memory The reference in the current model is not changed or deleted This is the abs
20. d intersect eachother to achieve satisfying results Write POLYHEDRON The picked GEO part is saved in the file kis_home mpolib lt filename gt as a POLYHE KISMET User Manual Page 83 MODEL DRON model The parameter lt filename gt is entered by the user Note The default exten sion of GEO partfiles is mpo This extension is used by KISMET in the file selection panel e Write EXT_POLYHEDRON The picked GEO part is saved in the file kis_home mpolib lt filename gt as an EXTENDED_POLYHEDRON model The difference to an ordinary polyhedron is that for each surface vertex a surface normal is stored in the model This form of storage should be used for parts with smoothly curved surfaces to allow for GOURAUD shading when you recall the model The parameter lt filename gt is entered by the user Note The default exten sion of GEO partfiles is mpo This extension is used by KISMET in the file selection panel e Save all GEOs Saves every GEO in the current model 15 2 1 Edit Flex This submenu is used to manipulate geometric primitives of the id 90 KISMET Geometry Specification ELADYN_NURBS as well as id 91 KISMET Geometry Specification ELADYN_POLY The elastodynamic behaviour can be controlled and influenced parameters can be adjusted Some items in this submenu can also be used for manipulating other flexible parts sub id 10 in the KISMET Geometry Specification The Edit FLEX Submenu
21. de ON OFF In this functional mode KISMET can be used as a master device position controller open loop for a real robot controller graphical master concept When active a set of positional KISMET User Manual Page 70 CAT data is sent to the controller of the active robot via UNIX message communications after each rendering cycle An interface program user generated is necessary to pick up the position data from the message queue and to perform the data distribution to the robot con trol hardware The default state is OFF 13 2 2 Camera Simulation amp Control This subpanel is used for control of simulated CAMERA views and for ONLINE Control of real workcell cameras during teleoperation Select This function is used to select the active CAMERA from the CAMERA menu which is automatically generated during model startup It includes the logical names of all CAME RAs in the application model database The active CAMERA has the input focus for all other commands in the Camera Simulation amp Control submenu Pointing Can be used to specify a new 3D lookpoint in top side view display mode for the active camera A single CAMERA motion is carried out View PYRAMID ON OFF Enable disable the overlay of the CAMERA viewing pyramid The tip of the pyramid is located at the CAMERA view location The base of the pyramid shows the current focal plane of the CAMERA The default state is OFF Tracking ON OFF Enab
22. e definitions are given in alphabetical not in logical or topological order ABSTRACT represents all data associated with a FRAME This is it defi nes also the topological relations used for the purpose of detail levels It includes the definition of a FRAME itself the refe rences to the SHAPE GEO element data together with the relative PLACEMENT of the SHAPE elements with respect to the ABSTRACT FRAME AXIS_ PLACEMENT defines a fixed relative position and orientation of one coordi nate system with respect to another coordinate system For the purpose of term simplification this term is mostly called PLA CEMENT BASE represents a link which is fixed to the WORLD system or whose motion is prescribed by the motion of another ROBOT DOF defines the relative motion between two FRAMEs of a JOINT by locking some spatial degrees of freedom DOF and esta blishing parameters for the unconstrained degrees of freedom FRAME is a specific kind of coordinate system attached to a kinematic such as WORLD BASE JOINT or LINK Different ways of specifying the placement of a FRAME relative to another are possible JOINT connects two LINKS and constraints the relative motion of one LINK to another via a DOF A JOINT is kinematically defined by a FRAME which defines the axis of motion and another moving FRAME which is connected to the LINK LINK rigid body whose motion is constrained by one or more JOINTs WORLD defines the reference coordin
23. entify the FRAME to be edited A FRAME is picked at the origin of its coordinate system as drawn in the workcell display When a FRAME is picked this is activated for editing all GEO parts connected to this FRAME are highlighted e Pick GEO This is another command to PICK a FRAME It is computationally more demanding as the previous command Here you can pick a FRAME by picking any GEO part connected to this FRAME Rotate The FRAME is rotated relative to its kinematic predecessor FRAME For modelling FRA MES type gt 50 with a general 6 parameter transformation dx dy dz a B you may rotate the FRAME in 3 dimensions whereas for JOINT FRAMES type lt 3 the Denavit Hartenberg DH notation a a 9 d is used This is you can rotate the JOINT FRAME in 2 dimensions a 9 only For modelling FRAMES type gt 50 e LM Change aj i e rotate FRAME around X axis KISMET User Manual Page 91 MODEL e MM Change b i e rotate FRAME around Y axis e BM Change g i e rotate FRAME around Z axis For JOINT FRAMES type lt 3 e LM Change 9 This is the joint angle from the x _ axis to the x axis about the z _ axis e MM Change ai This is the offset angle from the z _ axis to the z axis about the xi axis e BM No function Translate FRAME The FRAME is translated relative to its kinematic predecessor FRAME For modelling FRAMES type gt 50 with a general 6 parameter transformatio
24. enu for realtime simulation of the dynamic behaviour of mechanisms Direct Dynamics as well as Invers Dynamics will be calculated in real time See chapter 16 3 2 Dynamics Sub menu e Control Leads to the Control Sub menu for realtime simulation of the dynamic behaviour of robots resulting from the dynamic properties of the robot itself and its control system See chapter 16 3 4 The Control Panel 16 3 1 The Elastomechanics Panel The following menus and functions are provided by the Elastomechanics panel Figure 56 Elastomechanics Panel e Edit Gravity Input of gravity direction and acceleration with reference to the base frame Default values G 0 m s Gy 9 810621 m s G 0 m s e Edit external Forces KISMET User Manual Page 101 DYNAMICS Input of external forces and torques acting on the last created Deflected Joint Frame e Scale Deflections Input of the deflection scaling factor Enables the magnifying of the deflections e Enter Deflection Values Input of Deflection Values Enter Stiffness Creation of a new stiffness matrix file by either typing in the values or by modification of an existing stf file e Enter JOINT Data KISMET User Manual Page 102 DYNAMICS Input of the spring constants describing the flexible behaviour of the joints e Set Limits Determination of the greatest absolute value of a stiffness matrix file Can be useful to determine a scal
25. es Each ABSTRACT file defines an arbitrary number of FRAME re cords Now every FRAME can reference another ABSTARCT file called the son file This is you can define any numbers of sons from one mpc file Figure 37shows the tree like structure of ABSTRACT files mpc as used in KISMET KISMET User Manual Page 74 DETAIL ABSTRACT File mpc Figure 37 Hierarchical Structure of ABSTARCT Files 14 2 DETAIL Submenu Edit ABSTRACT The DETAIL submenu is used e to load activate and deactivate model parts and details and e to create an new robot model In KISMET an ABSTRACT is a kind of special FRAME which acts as a reference for an as sembly or to another more detailed representation of the part The physical representation of the ABSTRACT is a file mpc file which defines a part with its FRAMES and file references to the GEO element data mpo files An ABSTRACT file is also used to define exactly one KISMET User Manual Page 75 DETAIL ROBOT DETAIL Operations Figure 38 The Detail Submenu As a special feature in KISMET each frame defined in an ABSTRACT file can store the file reference to another ABSTRACT file This feature is used to define multiple levels of detail in KISMET It is possible to control the simulation performance frame rate over a wide range in KISMET using this feature To get the optimum performance you should only activate those parts and details of the app
26. essary because KISMET allows instancing of GEO parts FRAMEs and ABSTRACT files 15 4 Edit COLOUR KISMET is using two tables for lighting and or shading An RGB colour table which is used for wireframe drawing no lighting the background and everything around the workcell display Another table is used for MATERIAL definitions A MATERIAL defines the basic colour and the reflection parameters of GEO surfaces The two tables are with some limitations user de fineable They are set in the colour extension col and material extension mat files re KISMET User Manual Page 94 MODEL spectively See also chapter 15 5 Edit Material sist oO RGB HLS Index 53 Figure 52 The Colour Editing Panel Set PANEL The setings of the current colour are used for the panel background i e for the user interface Set Background The selected colour is used as background colour for all views Pick GEO Selects the GEO part the colour of which should be changed Set Wire COL Sets the wireframe colour of a selected GEO part RGB HLS Allows the modification of the e colour parameters R G and B Red Green and Blue according to the RGB colour model e or the colour parameters H L and S Hue Lightness Saturation according to the HLS color model The current MATERIAL index see Set MATERIAL Index command is used Index Shows the index of the currently selected colour for editing This number corresponds to the in d
27. ex in the KISMET colour file col DONE The colour editing window will be closed APPLY The whole colour table as edited is transferred to the scene until now all colour modifications are local to the colour editing window KISMET User Manual Page 95 MODEL SAVE The whole colour table as edited prviously is transferred to the scene until now all colour mo difications are local to the colour editing window Additionally a colour file col is saved to the harddisk i e this function is used for permanent changes to the models colour table 15 5 Edit Material Pick MATERIAL Pick GEO Set MATERIAL Figure 53 MATERIAL Editing e Index The index corresponds to the material definition in the mat file e Pick MATERIAL Selects the MATERIAL index to be edited from the scene window You have to pick a GEO part from the scene window The MATERIAL parameters associated with this GEO part and possibly some other parts will be subsequently modified using the sliders e PICK GEO This command is used to identify a GEO part in the main scene window The MATERIAL index as selected in the MATERIAL will be attached to the GEO part as picked when the Set MATERIAL button will be pressed subsequently e Set MATERIAL The currently selected MATERIAL is attached to the selected GEO part Use the PICK GEO button to select the part Kp Ks Kd Allows modification of the MATERIAL parameters Kd Ks and Kp coefficien
28. f a robot teachfile or robot program Pendulums are simple examples for the Direct Dynamics feature of KISMET If you want to simulate the direct dynamic be haviour of robots use the Control menu which is responsible for the simulation of the dyna mic behaviour of a mechanism combined with control algorithms enabling the user to specify Direct Dynamics Inverse Dynamics Kinematic structures with no Dynamics Sub menu Dynamics Sub menu active elements e g pendulums Kinematic structures with active Control Sub menu Dynamics Sub menu elements e g robots Table 9 Sub menu selection 16 3 Dynamics Main Menu The following sub menus are provided by the MBS Dynamics panel RTI UATE Rechani ER octiiet TJ fhe CUAS TORE Hs IEH HHA TCS GOUSTHOL Figure 55 Dynamics Main Menu Explanation e Elastomechanics Leads to the Elastomechanics Sub menu This menu is used to enter required properties gravity forces for the simulation of elastomechanic effects like torsion and bending of robot links An elastomechanic approach is used in KISMET to allow realtime calculation of deflections The stiffness data required for this option reduced stiffness matrices are provided by FEM programms The FastKey L is used to toggle the elastomechanics option The default value is OFF See chapter 16 3 1 The Elastomechanics Panel KISMET User Manual Page 100 DYNAMICS e Dynamics Calls the DYNAMICS subm
29. ing factor Show Deflections The elastostatic behaviour of a mechanism will be calculated and visualised on the screen Fastkey L e Diagnostic FILE Saves a diagnostic file containing all stiffness Matrices forces and torques of the current model Filename defl_diag_out 16 3 2 Dynamics Sub menu The following functions and menus are provided by the Dynamics sub menu Figure 57 The Dynamics Panel e Options Leads to the Options sub menu see Chapter 16 3 3 Dynamics Options sub menu e Direct Dynamics On Off Start or Stop of the real time simulation of the dynamic behaviour of all mechanisms in the current model that have been enabled for this purpose Default parameters such as simu lation time step size etc are defined in the kismetrce file and can be changed using the Options sub menu Initial Conditions see Chapter 16 3 3 Dynamics Options sub menu e Inverse Dynamics On Off Starts the Inverse Dynamics feature According to the options defined in the Options sub menu torques and or forces will be displayed There are basically 3 main applications for KISMET User Manual Page 103 DYNAMICS this menu 1 Using Inverse Dynamics together with one of the Motion sub menu according to the configuration of the kinematic structure the static forces and torques will be dis played 2 Using Inverse Dynamics together with the Direct Dynamics On sub menu the forces and
30. ing mode in KISMET is using the a bitplanes On workstations with limited graphics hardware using this command can give unpredictable results e Wireframe All GEO parts of the picked FRAME are rendered in WIREFRAME mode All other parts keep the previous drawing mode This function sets an attribute in the model datastructure of the GEO parts This attribute is reset when the next global Draw mode command is executed e FLAT Shaded All GEO parts of the picked FRAME are rendered in FLAT shaded mode e GOURAUD Shaded All GEO parts of the picked FRAME are rendered in GOURAUD shaded mode Create FRAME A new FRAME is added to the workcell All necessary parameters are requested by KIS MET in an interactive dialogue You have to PICK two FRAMES after the command is exe cuted The first FRAME defines the ABSTRACT file i e the branch in the model tree where the new tree will be stored when you save the workcell The second FRAME to be picked defines the kinematic predecessor The new FRAME will move together with its pre decessor For all FRAMEs JOINTS and modelling you have to specify a name This is a textstring which is used for identification by some textual commands SCRIPT commands For JOINTs FRAME types 0 1 2 3 you have to enter additionally the basic kinematic parameters min max joint angle motion limits max velocity and max accelleration Connect The kinematic predecessor of a FRAME is set to a new frame From
31. is located under the main menu MODELS Edit GEO For some operations the specific geo part must be identified first PICK Geo marked with P_GEO in following description The submenu consists of 11 buttons Modify FLEX Geonetry Pick CP Move CP Fix CP Release CP Freeze Reinit Flex Add Force No Forces Calculation Parameter Shon parts Save Hybrid DONE Figure 46 Edit FLEX e Pick CP P_GEO A specific mass knot of the ElaDyn Object can be selected After the identification of the GEO all mass knots are highlighted white tetraeder The desired mass knot can now be picked with the mouse left mouse button The coordinates of the knot are printed out in the textport For some operations a specific knot must be identified first with this feature marked with P_CP in following descriptions e Move CP P_GEO P_CP The selected mass point can be moved by the mouse A horizontal movement shifts the knot KISMET User Manual Page 84 MODEL in x direction if the left mouse button is pressed in y direction if the middle mouse button is pressed in z direction if both mouse buttons are pressed The coordinates of the knot are printed in the lower left edge of the viewport Fix CP P_GEO P_CP The selected mass knot is fixed All bounding conditions are activated the knot can t move any more until the knot is released Release CP P_GEO P_CP The selected mass knot is relea
32. ith limited graphics hardware using this command can give unpredictable results e Wireframe The picked GEO part is drawn in WIREFRAME mode All other parts keep the pre vious drawing mode This function sets an attribute in the model datastructure This attribute is reset when a Drawmode command is executed e Flat Shaded See chapter 9 2 The Display Panel for further information e GOURAUD Shaded See chapter 9 2 The Display Panel for further information INVERT Faces The orientation of all polygonal facets of the selected GEO part is reversed Interpolate Normals Interpolates smooth normal vectors on the polygon edges of the selected GEO part KIS MET will ask for the maximum angle between the adjecent facets to be used for smoothing CSG Operation This command is used for interactive execution of Boolean Modelling Operations After the command is selected you have to PICK the two parts OPERANDS for the following boo lean operation The type of boolean operation Union Difference Intersection will be requested by KISMET The operands will not be effected by the calculation The calculation is carried out with local copies of the operand parts The computation is carried out on the basis of the KISMET internal facetted polyhedron model The operation is not restricted to a subset of the available GEO primitives For suc cessful computation the operands should have a closed surface shell solid parts The ope rands shoul
33. le The following variable select menu will appear Figure 62 Variable select menu After leaving the variable select menu the file select menu will appear again KISMET User Manual Page 107 DYNAMICS 16 3 4 The Control Panel Figure 63 The Control Panel e POSITION Control VELOCITY Control USER defined Control Selection of the desired typ of control system Position and Velocity Control uses a default PID control system which can be configured as P PI or of course PID control system by using the Controllers submenu See chapter 16 3 4 1 The Controller Panel for details User Defined Control Uses the control system defined by the csf files See the KISEMT Data Specification for details e Single DOF Attach DOF Constant POS VEL Input of nominal values The user can either specify a constant nominal value by using Con stant POS VEL or non constant values Non constant nominal values can be changed by using the Single DOF Attach DOF com mand The user can associate a specific joint to one of the mouse buttons left or middle mouse button The velocity or position nominal value of the specified joint will be chan ged by moving the mouse Both the nominal values and the current joint values will be dis played on the screen in the upper right corner To selcect this feature press Single DOF first followed by Attach DOF Use the right mouse button to get a list of all available joints e Controllers
34. le disable CAMERA Tracking mode for the active CAMERA use the Select CAMERA function to activate a camera KISMET allows automatic tracking for simula ted cameras The CAMERA must be part of a ROBOT to let this functionality work It is not the CAMERA is moved but the ROBOT i e the CAMERA motion mechanism FRA MEs are used as a tracking target The FRAME to be tracked is PICKed after selection of this function Additionally KISMET calculates the distance Dist to the tracking target The distance value can be used to implement a model based autofocus feature see the com mand Send DATA The default state is OFF This option can be enabled simultaneously for all CAMERAs in the simulation model This is each camera can be put in TRACKING mode independant from the other cameras Send DATA ON OFF Enable disable the CAMERA command interface to the camera controller For monitoring applications KISMET can be used to provide high level kinematic control for the camera actuators in the real workcell A special UNIX process communications server must exist on the workstation to handle the communications between KISMET and the real controller s The default state is OFF Dist Fovy This valuator function is used for the CAMERA overlay view to change the two parameters DIST focal distance of the real camera and FOVY field of view angle When the CAMERA is in ONLINE mode the current parameters are sent to the camera controller
35. lication model which are necessary for operation in the current stage of the simulation The following section explains the different commands in the DETAIL Submenu e Pick Frame Pick ABS_Node This command is used to start a PICK operation to identify the ABSTRACT node for suc cessive operations An ABS node is picked at the origin of its associated coordinate system as drawn in the workcell display When an ABSTRACT is picked all GEO parts connected to this ABSTRACT are highlighted e Pick GEO Pick ABS_NODE via GEO This is another command to PICK an ABSTRACT It is computationally more demanding as the previous command Here you can pick an ABSTARCT by picking any GEO part con nected to this ABSTRACT i e to all FRAMES in the ABSTRACT file e Activate Activate ABS Branch A previously deactivated ABSTRACT is activated for display All GEO parts connected to the reference FRAME of the ABSTRACT remain active for display see Swap Level com mand e Deactivate Deactivate ABS Branch An active ABSTRACT branch is deactivated for display This command is useful to KISMET User Manual Page 76 DETAIL increase drawing speed frame rate drastically in the simulation You should deactivate all model parts which are currently not essential for the operation The ABSTRACT branch is not removed from the runtime database main memory Therefore it can be reactivated immediately for display by an Activate operation Load
36. me frametype 61 and connect it to the Deflected Joint Frame created at step 2 Take care that there is no difference between the orientation of this frame and the predecessor frame 6 Repeat step 4 6 for all joints 7 Define the external forces acting on the tip of the robot 8 Switch into the Deflection Mode Step 1 3 can be done under the Edit Frame Create Frame Submenu Notice If you create two Deflected Joints for one joint both demanding a predecessor and successor the second one is of course the successor of the first one You can solve the problem of connecting the first one with a successor which is not yet existing the second frame by using an arbitrary joint as successor and changing that after the creation of the second frame by using the Set Frame Successor submenu in the Edit Frame menu The creation of the frames in step 4 and step 5 can also be done in the Edit Frame Create Frame submenu For the input of the material data sets there are two possibilities KISMET needs two data set files for each joint which will be saved in the directory mpdlib On the one hand a file with the suffix stf containing the stiffness matrix of the link on the other hand a file with the suffix def containing additional material data If the links of the robot can be modeled as bars the input of the data set for the def file is sufficient The stiffness matrix for the stf file will be generated automatically In
37. me step For a joint_sum_error gt 0 the calculation of the inertia matrix will take place if n 3 eure L 7 al Ji new Ji oia gt Joint_sum_error with J aew Current joint value of joint i and j oq value of joint i during at matrix update Change velocity The default velocity of all joints is set to 0 at the beginning of the dynamic simulation Use Change_Velocity to change the initial velocity of all joints Initialise Deflection If your dynamic model contains flexible joints you can change the initial deflection of the joint and it s corresponding link The default value is set to 0 Change friction Changes the friction parameters e Integration Method Defines the integration method Runge Kutta Polygon Heun Craig or Adams Bashford Default Polygon Zero Position If your model contains flexible joints you can change the initial deflection of the joint and it s corresponding link by defining a new zero position of your joint e Set Force Display Figure 60 Set Force Display Visualisation of torques and forces as arrows You can display all components of the force torque vectors or just the x z or z component Show Only Motor Force Torque is very KISMET User Manual Page 105 DYNAMICS useful in combination with the TCP Ext Force feature of the Dynamics Sub menu see Chapter 16 3 2 Dynamics Sub menu Only the components that correspond to the motor torques forces are displa
38. n dx dy dz RB Y you may translate the FRAME in 3 dimensions whereas for JOINT FRAMES type lt 3 the Denavit Hartenberg DH notation aj Qj g di is used This is you may shift the JOINT FRAME in 2 dimensions only For modelling FRAMES type gt 50 e LM Change d i e translate FRAME along X axis e MM Change d i e translate FRAME along Y axis e BM Change d i e translate FRAME along Z axis For JOINT FRAMES type lt 3 e LM Change dj This is the distance from the origin of the S coordinate frame to the intersection of the z _ axis with the x axis along the z _ axis e MM Change a This is the shortest distance between the z _ system i e the rotation axis and z axis e BM No function Show FRAMEs This function is used to activate the display of all frames in the current workcell The FRA MES are displayed as a coordinate frame and with the logical name Drawmode Determins the drawmode of the GEO parts belonging to the picked FRAME FRAME Drawmode Transparent Wirefrane Flat Shaded GOURAUD shaded Figure 51 FRAME Drawmode e Transparent All GEO parts of the picked FRAME are rendered in TRANSPARENT mode All KISMET User Manual Page 92 MODEL other parts keep the previous drawing mode This function sets an attribute in the model datastructure of the GEO parts The attribute is reset when the next global Drawmode command is executed Note The transparent draw
39. r Manual Page 78 DETAIL Usage Create robot opens the Enter sim file name panel Figure 40 The Enter Sim file Panel The next step will lead you to the Enter mpc base name Panel Figure 41 The Enter base_mpc file name panel Finally the menu gives you the possibility to update and save all mpc files of the current model The Save as Panel will appear see Figure 39 The Save as Panel KISMET User Manual Page 79 15 MODEL 15 1 Introduction to the MODEL submenu This menu contains submenus responsible for e editing and changing of geometric parts Edit GEO e creating and moving of frames Edit FRAME e editing colour tables Edit COLOUR e editing tables defining surface properties Edit MATERIAL Edit GEO Edit FRAME Edit COLOUR Edit MATERIAL Figure 42 The Cell Modeling Panel 15 2 Edit GEO The Edit GEO submenu is used for local creation positioning and editing of geometry parts GEO elements Together with the Edit FRAME menu it provides the basic interface for mo del creation or local model correction during on line remote handling sessions The basic con cept behind KISMET is to import geometry parts from CAD systems Although in some situation the build in geometry editor can be useful Geometry placement operations translate rotate are performed with a local copy of the GEO element This is you have to CONFIRM the modification of the PLACEMENT when you are done with a GEO p
40. rol parameters and for each joint or input via textport Joint Example_1 Actual Value Kr 1 New Value Joint Example_1 Actual Value Ti 1 New Value Joint Example_1 Actual Value Td 1 New Value Joint Example_1 Actual Value Tv 1 New Value Change Select the type of controller you want to change and enter the parameters as described above Save Saves the control parameters for your selected typ of controller Reset Resets the parame ters of the selected type of controller to default values if available Reset Resets the parameters of the selected type of controller to default values if available KISMET User Manual Page 110
41. sed All bounding conditions are deactivated the knot can move in any direction Freeze All elastodynamical calculations are stopped All flexible parts are freezed until the button is pressed again Toggle Button Reinit Flex P_GEO The elastodynamical properties of the geo are reinitialized This feature is useful for interac tive geometric changes First the geo is freezed then the knots can be moved to change the geometric shape Last the elastodynamic object is reinitialized Add Force P_GEO P_CP An external force can put on the selected mass knot A horizontal movement of the mouse changes the force in a specific direction in x direction if the left mouse button is pressed in y direction if the middle mouse button is pressed in z direction if both mouse buttons are pressed The current force values in each direction unit Newton are printed out in the lower left edge of the viewport No Forces P_GEO All external forces of the selected object are set to zero Calculation Opens the calculation window where all the parameters of the elastodynamic calculation KISMET User Manual Page 85 MODEL can be set and changed feo nare palles i lel apo cele repent lact 10 iimm ates O 010000 E uiii Conat E i E Feal J tis f 1 Matin Cile i Benj HI nw Eiei The 7 E i Ot Drover MARES Ti E Ho Figure 47 The Calculation Panel e calc repeat fact number un
42. signed number of repetitions of the elastodynamical calculation before new drawing e time step number float Integration time for the elastodynamical calculation only required if time step defini tion Const e time step def Bool Auto Const Switch Real Time Constant Time e Motion Calc Bool Real Slow Switch Real Time Slowmotion 10 used to prevent numerical instabilities e Dynamic Calc Bool Real Quasi Switch complete dynamic calculation simplified dynamic calculation e ElaDyn Type Bool I II Switch elastodynamical options e Object move Bool On Off Switch global object move e Gravity Bool On Off Switch gravity The direction of the gravity vector points along the negativ y axis in world coordinates 9 81 m s2 Only geo objects with the Kismet id 90 are influenced by the gravity e Ground Bool On Off e Switch ground y 0 plane e Draw Poly Bool Yes No KISMET User Manual Page 86 MODEL e Switch drawmode polygonal drawing e Draw NURBS Bool Yes No e Switch drawmode NURBS drawing e Parameter P_GEO Opens the parameter window where all the specific parameters of an elastodynamic object can be set and changed all parameters are floats geo name galle_flexl mpo geo knot mass 0 002000 object mass 0 220000 geo springs stiff 1 200000 basic springs stiff 0 2000 knot damp 0 200000 object damp 2 1000 object spring stiff 1 200000 torque spring stiff 0 02000 Accept Cancel Figure
43. the middle mouse button is pressed in z direction if both mouse buttons are pressed Save ElaDyn P_GEO The selected NURBS object is saved in a Kismet geo file mpo KISMET ID 80 The name of the file must be specified in the textport Drawmode P_GEO The drawmode of the selected NURBS can be defined Filled Outline Poly Outline Patch Isolines Done The submenu is been closed 15 3 Edit FRAME 15 3 1 Introduction to Edit Frame The kinematic structure in this part of KISMET is regarded as being composed of rigid links connected by joints with contact along a surface a curve or in a point Robot kinematics deals with the geometry of robot link motion with respect to a fixed reference coordinate system as a KISMET User Manual Page 89 MODEL function of time without regard to the forces and moments that cause this motion It deals with the spatial configuration of mechanisms in particular with the relations between the joint varia bles and the position and orientation of a robot end effector The kinematics problem consists of the direct and the inverse kinematics subproblems Further parts of this document extend this basic schema with an extended model to allow for simulation of e elastostatic effects this is torsion and bending of flexible links e robot arm dynamics e control algorithms For the purpose of clarification of the following sections a list of definitions is given in this sec tion Th
44. torques in the non static dynamic case will be displayed 3 Using Inverse Dynamics together with the Run teachfile sub menu during the exe cution of a robot teachfile the forces and torques necessary to perform the demanded motion will be displayed Usage 1 Inverse Dynamics Start 2 Run teachfile e TCP Ext Force Visualisation of the forces resulting from the contact of a mechanism with an elastodynamic object Furthermore the resulting forces and torques in all joints of the colliding mechanism will be calculated and visualised if demanded 16 3 3 Dynamics Options sub menu The following commands and sub menus are provided Figure 58 Dynamics Options e Initial Conditions Figure 59 Initial Conditions e step size Definition of integration step size e redraw step size influences the relationship of CPU time provided for drawing routines and CPU time spent for calculation of the dynamic behaviour KISMET User Manual Page 104 DYNAMICS simulation time self explainable isn t it time scale Defines a slow motion factor time_scale 10 means thatfor a simulation time of 6 sec the simulation will be 10 times slower than real time and therefor will last 60 seconds joint sum error Normally the moment of inertia matrix will be calculated and inverted each time step which is very cpu time consuming For slow moving objects it might not be necessary to calculate this matrix every ti
45. tract can be reloaded later in the simulation session The function is useful to make space in the main model for other parts for example to avoid memory swapping It is also used to increase drawing performance Delete REFERENCE Delete ABS Reference Removes a REFERENCE to an ABSTRACT file from the specified picked node From this moment the ABSTRACT file detail or assembly cannot be loaded or activated in the current simulation session The abstract file in the database is not affected by this operation because it may be referred to in other application models or parts of the current model instancing Print NODENAME Print Nodename the fully qualified nodename of the ABSTRACT is printed in the KISMET textport The nodename is a list of all FRAME names from the model root ABS ROOT to the selected ABSTRACT The abstract names are separated by a dot The full qualified nodename is used in SCRIPT files to uniquely identify a FRAME or ABSTRACT node This naming convention is necessary because KISMET allows instancing of GEO parts FRAMEs and ABSTRACT files Create Robot A new model is created Starting with the sim File and leading the user through the com plete data structure a new model will be created This command can be used for example to give an existing modell a new name after changes have been made If no dof file is availa ble in the current model a dof file will be generated automatically KISMET Use
46. ts for Dif fuse Reflection Specular Reflection Specular Power e S L H Allows modification of the MATERIAL parameters S H and L coefficients for Saturation KISMET User Manual Page 96 MODEL Hue and Lightness according to the HLS colour model DONE This button is used to terminate MATERIAL editing mode The MATERIAL window will be closed No changes will take effect in the scene window unless you have pressed the APPLY button before APPLY The whole MATERIAL table as edited is transferred to the scene until now all modificati ons are local to the editing window SAVE The whole MATERIAL and COLOUR tables as edited are transferred to the KISMET scene until now all modifications are local to the colour editing window Additionally the MATERIAL and COLOUR files mat and col are saved to the harddisk i e this function is used for permanent changes to the models MATERIAL table KISMET User Manual Page 97 16 DYNAMICS 16 1 Introduction to Elastomechanics 16 1 1 Elastomechanics Basics KISMET provides the posibility to calculate the static deflections of a robot in real time The refore it is required to expand the robot model i e to provide the necessary data sets In order to extend the model there are 3 frametypes which have to be integrated into the kinematical model and enable KISMET to fulfill the task Figure 54 Rigid and non rigid kinematical chains Figure 54 shows two links of a kinemati
47. yed z component of the torque for rotational DOF z component of the force for tranlational DOF This is for example very useful for force feedback applicati ons where these torque components can be used to control motors The default values can be found in the kismetrc file in the current kis_home directory Diagnostics Only for development purpose FILE Output Output of different user definable values into a file during a dynamic simulation This function contains 2 defined configurations with default values specially chosen for Direct and Inverse Dynamics and one function enabling the user to define his own configuration with variables of interest Figure 61 File Output Panel e Status On Off Defines whether the chosen variables will be written out into a file during the dynamic simulation or not e Dir Dyn s t will be saved in a file e Ind Dyn s t v t a t and t t will be saved in a file e User Def A user defined set of variables will be saved in a file The user can select a set of varia bles created and saved earlier or create a new file diag file Usage After selecting User Def a file selection menu displaying already existing diag files will be shown The user can a select a file and leave the selection menu with Accept or b the user can leave the selection menu with Cancel in order to create a new KISMET User Manual Page 106 DYNAMICS diag fi
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