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Application module:
Kinematic analysis control and result |
ISO/TS 10303-1817:2014-02(E)
© ISO
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This clause specifies the information requirements for the
Kinematic analysis control and result
application module. The information requirements are specified as the
Application Reference Model (ARM) of this application module.
NOTE 1 A graphical representation of the information
requirements is given in
Annex C.
NOTE 2 The mapping specification is specified in
5.1. It shows how
the information requirements are met by using common resources and
constructs defined or imported in the MIM schema of this application
module.
This clause defines the information requirements to which implementations shall
conform using the EXPRESS language as defined in ISO 10303-11.
The following begins the
Kinematic_analysis_control_and_result_arm
schema and identifies the necessary external references.
EXPRESS specification:
*)
SCHEMA Kinematic_analysis_control_and_result_arm;
(*
The following EXPRESS interface statement specifies the elements
imported from the ARM of another application module.
EXPRESS specification:
*)
USE FROM
Kinematic_motion_representation_arm;
--
ISO/TS 10303-1796
(*
NOTE 1
The schemas referenced above are specified in the following
part of ISO 10303:
| Kinematic_motion_representation_arm |
ISO/TS 10303-1796 |
NOTE 2
See Annex C,
Figures
C.1and C.2
for a graphical representation of this schema.
This subclause specifies the ARM types
for this application module. The ARM types and
definitions are specified below.
The kinematic_analysis_definition type allows for the designation of the data
types
Interpolated_configuration_sequence
and
Prescribed_path.
A kinematic_analysis_definition allows a reference to either an
Interpolated_configuration_sequence
or a
Prescribed_path.
With an
Interpolated_configuration_sequence,
motion is specified in terms of the pair parameters of a kinematic structure.
With a
Prescribed_path,
motion is specified in Cartesian space.
EXPRESS specification:
*)
TYPE
kinematic_analysis_definition =
SELECT
(Interpolated_configuration_sequence,
Prescribed_path);
END_TYPE;
(*
The kinematic_result type allows for the designation of the data
types
Interpolated_configuration_sequence
and
Resulting_path.
A kinematic_result allows a reference to either an
Interpolated_configuration_sequence
or a
Resulting_path.
With an
Interpolated_configuration_sequence,
motion is specified in terms of the pair parameters of a kinematic structure,
where all the interpolations between the configuration definitions in the sequence are undefined.
With a
Resulting_path,
motion is specified in Cartesian space.
EXPRESS specification:
*)
TYPE
kinematic_result =
SELECT
(Interpolated_configuration_sequence,
Resulting_path);
END_TYPE;
(*
This subclause specifies the ARM entities for this
module. Each ARM application entity is an atomic element that
embodies a unique application concept and contains attributes
specifying the data elements of the entity. The ARM
entities and definitions are specified below.
A Kinematic_analysis_consistency is a relationship of the result of a kinematic analysis to its input.
It asserts that result has been obtained from an analysis using control as its input.
EXPRESS specification:
*)
ENTITY Kinematic_analysis_consistency;
control : Kinematic_control;
result : Kinematic_analysis_result;
WHERE
WR1: control.controlled_mechanism :=: result.analysed_mechanism;
END_ENTITY;
(*
Attribute definitions:
control:
the
Kinematic_control
providing the input for the analysis.
result:
the
Kinematic_analysis_result
which contains the results of the analysis.
Formal propositions:
WR1:
Input and result data shall be related to the same
Mechanism_representation.
A Kinematic_analysis_result is the result information from the kinematic simulation of a
Mechanism_representation.
EXPRESS specification:
*)
ENTITY Kinematic_analysis_result;
analysed_mechanism : Mechanism_representation;
result : kinematic_result;
END_ENTITY;
(*
Attribute definitions:
analysed_mechanism:
the
Mechanism_representation
whose motion produced the results.
result:
a list of the motions, called results.
A Kinematic_control is an identification of the control information necessary for a forward or a backward analysis of a
Mechanism_representation.
The
Prescribed_path
is used for the backward analysis and the
Interpolated_configuration_sequence
is used for the forward analysis.
EXPRESS specification:
*)
ENTITY Kinematic_control;
controlled_mechanism : Mechanism_representation;
contained_kinematic_programs : kinematic_analysis_definition;
END_ENTITY;
(*
Attribute definitions:
controlled_mechanism:
the
Mechanism_representation
to which the control information applies.
contained_kinematic_programs:
a set of motion definitions.
A Prescribed_path is a type of
Link_motion_representation_along_path.
A Prescribed_path specifies the continuous motion for a control frame that is defined on a kinematic link.
A Prescribed_path may be used for backward analysis.
All transforms belonging to this path are given relative to the coordinate system identified as the context in
which motion is geometrically founded.
If the exact path cannot be achieved for any reason, any combination of joints may be used to
achieve a path whose average distance from the prescribed path is minimized.
If no controlling joints are given, any joints may be used to achieve the prescribed path.
EXPRESS specification:
*)
ENTITY Prescribed_path
SUBTYPE OF (Link_motion_representation_along_path);
controlling_joints :
OPTIONAL
SET[1:6] OF Kinematic_joint;
END_ENTITY;
(*
Attribute definitions:
controlling_joints:
an optional set of the
Kinematic_joints
which are used to achieve the prescribed path motion.
NOTE
The individual degrees of freedom of a joint depend on the type of the pair that references the joint.
Values to the degrees of freedom are assigned by the appropriate subtype of
Pair_value
which always specifies values for all the individual degrees of freedom of a pair.
On the other hand, the number of all individual degrees of freedom for the joints in the controlling_joints set must
not exceed six in order to avoid the backward analysis problem becoming indeterminate.
For this reason, if a pair with more than one degree of freedom
(e.g., a Cylindrical_pair)
is associated with any joint in the controlling_joints set, the size of this set will be less than six.
The value of this attribute need not be specified.
A Resulting_path is a type of
Link_motion_representation_along_path.
A Resulting_path describes a continuous rigid object motion for a control frame which is on a kinematic link.
The Resulting_path may be obtained from the forward analysis.
All transforms belonging to the path are given relative to the coordinate system identified as the
context in which motion is geometrically founded.
EXPRESS specification:
*)
ENTITY Resulting_path
SUBTYPE OF (Link_motion_representation_along_path);
controlling_joints : SET[1:?] OF Kinematic_joint;
END_ENTITY;
(*
Attribute definitions:
controlling_joints:
the
Kinematic_joints
which have been used to achieve the resulting path motion.
This subclause specifies the ARM subtype constraint for
this module. The subtype constraint places a constraint on the
possible super-type / subtype instantiations.
The ARM subtype constraint and definition is
specified below.
The
link_motion_representation_along_path_subtypes
constraint specifies a constraint that applies to instances of subtypes of
Link_motion_representation_along_path.
EXPRESS specification:
*)
SUBTYPE_CONSTRAINT link_motion_representation_along_path_subtypes FOR Link_motion_representation_along_path;
ONEOF (Prescribed_path,
Resulting_path);
END_SUBTYPE_CONSTRAINT;
(*
*)
END_SCHEMA; -- Kinematic_analysis_control_and_result_arm
(*
© ISO 2014 — All rights reserved
