Ejercicios robotika

Código
MAKINA
ERREMINTAREN
INSTITUTUA

INSTITUTO
DE MAQUINA
HERRAMIENTA

REVISION DE LA DOCUMENTACION PARA LA
FORMACION

Rev.

F 04.14

1

MANUAL DEL ALUMNO
CICLO: 1 MEI
NOMBREMODULO:
Proman2: AUTOMÁTICA
Robótica
Definición de puntos.

NOMBRE Y FIRMA DEL PROFESOR

REVISADO POR

Muntaia Taldea

FECHA DE REVISIÓN

30/01/2011

MAKINA
ERREMINTAREN
INSTITUTUAAutomatizazioa
Praktikak

INSTITUTO
DE MAQUINA
HERRAMIENTA

N0.- Definición de puntos:
Prácticas 1, 2, 3, 4, 9, 11:

P1:
CONST jointtargetp_etxea:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p10:=[[581.52,93.17,581.65],[0.47553,-0.242361,0.843879,-0.0547841],[0,0,-1,0],
[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtargetp20:=[[444.53,387.27,580.22],[0.471037,-0.465671,0.745106,0.0780522],[0,0,-1,0],
[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p30:=[[479.88,418.03,386.59],[0.311409,-0.502375,0.804904,0.0526558],[0,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p40:=[[635.21,-39.22,386.59],[0.308102,-0.159436,0.935325,-0.0694308],[-1,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
P2:
CONST jointtargetp_etxea:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p10:=[[564.94,-123.16,563.13],[0.152372,0.130069,0.967993,-0.151179],[-1,1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
P3:CONST jointtarget
p_etxea:=[[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p10:=[[581.52,93.17,581.65],[0.0132457,0.287294,0.957352,0.027642],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p20:=[[444.53,387.27,580.22],[0.0132457,0.287294,0.957352,0.027642],[-1,0,0,0],
[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtargetp30:=[[479.88,418.03,386.59],[0.0132457,0.287294,0.957352,0.027642],[-1,0,0,0],
[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p40:=[[635.21,-39.22,386.59],[0.0132457,0.287294,0.957352,0.027642],[-1,0,0,0],...