Pick object(s) (robot) |
  
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Pick object(s) (robot) |
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This task enables a kinematic chain to pick objects using inverse kinematics. This task requires an object with a hierarchical substructure, an assigned behavior, and for all sub-objects to have defined Degrees of Freedom (DOF) (see chapter User interface / Tab "Objects" / Buttons / Context menu). It should be noted that movements are always done relative to the parent coordinate system.
This task is based on the task Complex object IK and uses all its parameters (see chapter Task library / Tasks (basic objects) / Complex object IK (inverse kinematics)).
Here only the additional parameters are listed.
Parameter |
Type |
Mand. |
Meaning |
|---|---|---|---|
List of objects to pick |
Object |
yes |
An object parameter defining the objects which will be attached to the end effector. |
New parent object |
Object |
no |
An object parameter with which a new parent object can be defined when an object is picked. Otherwise, the end effector is selected as the new parent object. |
Offset for approach movement [mm] |
Floating-point number (0.0 to 1000.0) |
no |
A value that specifies the offset of the end effector's approach when picking up an object. |
Offset for leave movement [mm] |
Floating-point number (0.0 to 1000.0) |
no |
A value that specifies the end effector removal offset after picking up an object. |
Process time gripper [s] |
Floating-point number (0.0 to 100.0) |
no |
Adds a Wait with the given duration immediately before connecting / disconnecting to the object. |
Stop type |
Floating-point number (0 to 100) |
no |
Radius of a sphere on the surrounding point. 0 means exact stop. |
HRC operation mode |
Selection |
no |
Definition of a HRC operation mode: no HRC mode Mode 1: Safety-rated monitored stop Mode 2: Hand guiding Mode 3: Speed and distance monitoring Mode 4: Power and force limiting |