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Thread: COLLADA 1.5 kinematics

  1. #21
    Junior Member
    Join Date
    Mar 2010
    Posts
    13

    Re: COLLADA 1.5 kinematics

    Do anyone knows CAD editors which supports collada kinematics export/import. I assume CATIA has a support. Is a collada plugin for CATIA avaliable are there any other tools?

  2. #22

    Re: COLLADA 1.5 kinematics

    Hello alexey,
    we have converters for DELMIA V5, D5 and Robcad / Process Simulate. ABB RobotStudio is reading/writing COLLADA kinematics and so is KUKA using KUKASim.

    Sebastian

  3. #23
    Junior Member
    Join Date
    Mar 2010
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    13

    Re: COLLADA 1.5 kinematics

    Hello everyone,

    Is it possible to combine separate kinematics models into a new one in collada?
    For example, there are two kinematics chain:
    <library_kinematics_models id="libkinmodels">
    <kinematics_model id="kinmodel.0" name="Mechanism.1">
    ...
    </kinematics_model>
    <kinematics_model id="kinmodel.1" name="Mechanism.2">
    ...
    </kinematics_model>
    </library_kinematics_models>

    And I want to build a new one out of these two, something like:
    <kinematics_model id="kinmodel.0" name="Mechanism.1">
    <kinematics_model id="kinmodel.1" name="Mechanism.2">

    Is that possible in Collada, without a building a complete new model.
    Is it possible to reuse existing models to build a new ones.

    Best regards,
    Alexey

  4. #24
    Junior Member
    Join Date
    Apr 2009
    Posts
    16

    Re: COLLADA 1.5 kinematics

    Hi there,

    yes it is possible. Generally this happens when you want for example set a robot on a linear axis.

    The combination means that you have one controller that controlls both kinematics. A controller is described with an articulated system.

    So, all you have to do is to create an articulated system and instantiate both kinematic models.

    Regards

    Steffen

  5. #25
    Junior Member
    Join Date
    Mar 2010
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    13

    Re: COLLADA 1.5 kinematics

    Hello Steffen. Thanks for reply.

    Do you have an example collada file for such a robot? Collada specification is not detailed enough on these questions.

    My idea is to describe kinematics and dynamics of different (reusable) components for a mobile manipulator, like arms, grippers, platforms and in separated data structure describe a complete system, which is built out of the reusable parts.

    Best regards,
    Alexey

  6. #26
    Junior Member
    Join Date
    Mar 2010
    Posts
    13

    Re: COLLADA 1.5 kinematics

    can't access this link www.netallied.de/tmp/kr360.zip.

    could u post it again please

  7. #27

  8. #28
    Junior Member
    Join Date
    Mar 2010
    Posts
    13

    Re: COLLADA 1.5 kinematics

    thanks!

  9. #29

    Re: COLLADA 1.5 kinematics

    Dear all,

    I'm trying to understand how geometry binds with kinematics in COLLADA files. For instance, in simple_articulated.dae there is:

    <node id="Product2.1_1" name="Product2">
    <matrix>1 0 0 0 0 1 0 0 0 0 1 30000 0 0 0 1</matrix>
    <matrix>1 -0 0 -0 -0 1 -0 0 0 -0 1 -30000 -0 0 -0 1</matrix>
    <matrix>1 0 0 0 0 1 0 0 0 0 1 30000 0 0 0 1</matrix>
    <rotate sid="joint_1_axis0">-1 -0 -0 0</rotate>
    <matrix>1 -0 0 -0 -0 1 -0 0 0 -0 1 -30000 -0 0 -0 1</matrix>
    <matrix>1 0 0 0 0 1 0 0 0 0 1 30000 0 0 0 1</matrix>
    ...

    where "joint_1" is Revolute joint.
    Should i use <translate> tag instead of <rotate> in case i have Prismatic joint?

    Anton

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