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barcode printing using vb.net Degrees of rotation in Software
Degrees of rotation Read QR Code ISO/IEC18004 In None Using Barcode Control SDK for Software Control to generate, create, read, scan barcode image in Software applications. QR Code Creation In None Using Barcode generation for Software Control to generate, create QR Code JIS X 0510 image in Software applications. The term degrees of rotation refers to the extent to which a robot joint, or a set of robot joints, can turn clockwise or counterclockwise about a prescribed axis. Some reference point is always used, and the angles are given in degrees with respect to that joint. Rotation in one direction (usually clockwise) is represented by positive angles; rotation in the opposite direction is specified by negative angles. Thus, if angle X 58 degrees, it refers to a rotation of 58 degrees clockwise with respect to the reference axis. If angle Y 274 degrees, it refers to a rotation of 74 degrees counterclockwise. Figure 342 shows a robot arm with three joints. The reference axes are J1, J2, and J3, for rotation angles X, Y, and Z. The individual angles add together. To move this robot arm to a certain position within its work envelope, or the region in space that the arm can reach, the operator enters data into a computer. This data includes the measures of angles X, Y, and Z. The operator has specified X 39, Y 75, and Z 51. In this example, no other parameters are shown. (This is to keep the illustration simple.) But there would probably be variables such as the length of the arm sections, the base rotation angle, and the position of the robot gripper (hand). QR Recognizer In None Using Barcode scanner for Software Control to read, scan read, scan image in Software applications. Drawing QR Code In Visual C#.NET Using Barcode drawer for VS .NET Control to generate, create QR Code JIS X 0510 image in .NET applications. Articulated geometry
Print QRCode In Visual Studio .NET Using Barcode printer for ASP.NET Control to generate, create Quick Response Code image in ASP.NET applications. Making QR Code In Visual Studio .NET Using Barcode printer for .NET Control to generate, create Quick Response Code image in .NET applications. The word articulated means broken into sections by joints. A robot arm with articulated geometry bears some resemblance to the arm of a human. The versatility is defined in terms of the number of degrees of freedom. For example, an arm might Making QR Code In Visual Basic .NET Using Barcode creation for Visual Studio .NET Control to generate, create QR Code ISO/IEC18004 image in .NET applications. Encode Barcode In None Using Barcode generation for Software Control to generate, create barcode image in Software applications. 650 Robotics and artificial intelligence
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Data Matrix ECC200 Creation In None Using Barcode creator for Microsoft Excel Control to generate, create Data Matrix 2d barcode image in Microsoft Excel applications. Making Barcode In Java Using Barcode generator for BIRT reports Control to generate, create barcode image in BIRT applications. 342 Degrees of rotation. Angles X, Y, and Z are measured relative to axes J1, J2, and J3. This robot arm employs articulated geometry. Bar Code Generator In Java Using Barcode creator for Java Control to generate, create barcode image in Java applications. DataMatrix Printer In VS .NET Using Barcode maker for .NET framework Control to generate, create ECC200 image in .NET applications. have three degrees of freedom: base rotation (the equivalent of azimuth), elevation angle, and reach (the equivalent of radius). If you re a mathematician, you might recognize this as a spherical coordinate scheme. There are several different articulated geometries for any given number of degrees of freedom. Figure 342 is a simplified drawing of a robot arm that uses articulated geometry. Cartesian coordinate geometry
Another mode of robot arm movement is known as cartesian coordinate geometry or rectangular coordinate geometry. This term comes from the cartesian system often used for graphing mathematical functions. The axes are always perpendicular to each other. Variables are assigned the letters x and y in a twodimensional cartesian plane, or x, y, and z in cartesian threespace. The dimensions are called reach for the x variable, elevation for the y variable, and depth for the z variable. Figure 343 depicts a robot arm capable of moving in two dimensions using cartesian coordinate geometry. AM FL Y
TeamFly
Robot arms 651
Telescoping arm
343 Cartesian coordinate geometry in two dimensions. Variable x represents reach; y represents elevation. Sliding movement
Cylindrical coordinate geometry
A robot arm can be guided by means of a plane polar coordinate system with an elevation dimension added (Fig. 344). This is known as cylindrical coordinate geometry. In the cylindrical system, a reference plane is used. An origin point is chosen in this plane. A reference axis is defined, running away from the origin in the reference plane. In the reference plane, the position of any point can be specified in terms of reach x, elevation y, and rotation z, the angle that the reach arm subtends relative to the reference axis. Note that this is just like the situation for twodimensional cartesian coordinate geometry shown in Fig. 343, except that the sliding movement is also capable of rotation. The rotation angle z can range from 0 to 360 degrees counterclockwise from the reference axis. In some systems, the range is specified as 0 to 180 degrees (up to a half circle counterclockwise from the reference axis), and 0 to 180 degrees (up to a half circle clockwise from the reference axis).

