How can I use FlexMotion vector move function for cartesian coordinate system to other coordinate.

[Miki 500]

I have problem with convesion from cartesian coordinate system to other one. I need use standard move function for example blend to moving 2 arms manipulator. What i need to do?

[Brent_R]

The Flexmotion software provides functions for performing circular, spherical, and helical arc moves. These functions accept moves in their respective coordinate systems and convert them to moves in the cartesian space. They are suitable for stages with two (circular) or three (helical and spherical) orthogonal axes.

For general kinematic systems, you will need to perform the coordinate transformations yourself in software.

Regards,

Brent Runnels
Applications Engineer
National Instruments

[Miki 500]

Yes I know, possibly my english is not clearly, but I'd like to know that I'll need to perform my own
move routine? I wrote function that solve problem inverse kinematics but i still know only one way to move
my manipulator along shape this is countering move. Are more natural solutions like in case orthogonal axes?
Respects,
Miki

[Brent_R]

The vector move will probably not give the results you are looking for. The vector move calculates the trajectory based on unit vectors in cartesian space. For a 2 arm robot (ex. 2 rotation joints), you would be able to move from point A to point B as desired, however the path would not be a straight line. The path may also not be suitable for the mechanism, which could cause a collision or maybe a singularity.

The best solution is probably the contour move. You can use the inverse kinematic routine you wrote and send the results to a contour move. Contour moves are a little more complicated to use than the simple one axis or vector moves, however they are also much more flexible. I do not know of any functions already written for your system,
but it sounds like you are already on the right path.

Regards,

Brent Runnels
Applications Engineer
National Instruments