User`s guide

Quattro Motions
Adept Quattro s650H Robot User’s Guide, Rev A 77
Containment Obstacles
The work space of the robot is defined by an inclusion obstacle. This is done because,
unlike other robots, joint limits are not meaningful in defining the work space. The V+
version that supports the Adept Quattro s650H robot defines a cone-like shape as a
containment obstacle. This is actually the work envelope. See Figure 7-2 on page 84. Other
obstacles can be defined within this obstacle.
Tool Flange Rotation Extremes
This section addresses an ambiguity that can occur at extremes of the tool flange rotation.
Note the following exceptions:
• Quattro robots with tool flange rotation of less than 360° (e.g., 60
° platforms) are
not affected.
• Manual control is not affected.
• Program-controlled motions with destinations not near the extremes of tool flange
rotation, or that start and stop on the same side (either + or -) of the center angle of
rotation of the tool flange are not affected. This means that most of the range of
tool rotation is not affected.
Since there is no robot axis directly associated with the tool flange rotation, that rotation is
specified by the roll component of the destination transformation.
The V+ system considers the center angle of rotation of the tool flange to have a roll
component of 180°. The roll component approaches 0° as the tool-rotation angle
approaches ±180°.
NOTE: The roll is -180° on one side of the center of rotation, and +180° on
the other side. See Figure 5-7 on page 78.
An ambiguity, however, exists from just beyond the extreme of tool rotation to 0.2° past
that extreme, in both rotation directions. These are considered to be the “ambiguity
zones” for tool rotation. Note that, for a tool that can rotate exactly 360°, the two
ambiguity zones touch.
If the total tool rotation is greater than 360°, the ambiguity zones shift by the amount that
the total tool rotation exceeds 360°. This means that the 185° platform has ambiguity zones
as follows:
In order to address this ambiguity, the following rule has been implemented in the
motion-planning software:
When a motion destination has a tool rotation ending within an “ambiguity
zone”, the tool is permitted to rotate only in the direction of the shortest distance
from the starting position to the destination position. But if that rotation would
exceed the range of motion in that direction, the error “*Location out of range*” is
reported and the motion is not performed.
-5° Zone15.2°–≥>
+5° Zone2 +5.2°≤<