17 OPTIONS - The KISMET 3D
Contents
1. Mnemonic HS No Com No Description DEFVAR 22004 2202e Reserve memory for variables GENARR 22005 2203e Reserve memory for arrays MOVDAT 22020 2204 et Assign CHARACTER variable 2205 et Assign BOOLEAN variable 2206 et Assign INTEGER variable 2207 et Assign REAL variable 2208 et Assign VECTOR variable 2209 et Assign ORIENTATION variable 2210 et Assign WORLD variable 2211 et Assign JOINT variable 2212 Assign ADX variable READIR 22021 2213 e Read current robot position CLRST 22022 2214 e Delete uppermost stack element ABSADR 22050 221558 Calculate absolute address LIMU 22080 2216e Length in memory units 22100 2217 et Program Start 22150 2218 et Program End 22190 2219e Program Stop 22200 2220 et Block Start 22210 222 et Block End 22220 2222 et Procedure Call PRCBEG 22230 2223 et Procedure Begin PRCEND 22240 2224 et Procedure End TSKBEG 22250 2225 Task Begin 22260 2226 Task End 22300 2227 et unconditional JUMP 22310 2228 et logical JUMP 22330 2229 et Begin of FOR loop FOREND 22340 2230 et End of FOR loop WHILE 22350 2231 et Begin of WHILE loop Tabelle 7 List of IRDATA Commands KISMET User Manual Page 135 Mnemonic HS No Com No Description WHLEND 22355 2252 et End of WHILE loop UNTIL 22360 2233 et End of UNTIL loop CASE 22370 2234 et CASE statement NOOP 22380 2235 et No Operation PARBEG 22500 2232. Another way of robot programming textual programming is possible in KISMET using the off line programming module OLP module This is called up from the Module sub menu Currently simple geometry ad hoc robot teaching is possible in KISMET for the pro gramming codes e IRDATA Pseudo Siemens SRCL S Key Enables disables STEREO mode To use this option your graphics workstation must be equipped with stereo hardware stereo glasses 120Hz monitor etc W Key This command is used to perform a depthpass filter calculation of the main workcell view scene antialiasing using the accumulation buffer The function is useful to achieve an antialiased image in solid drawmodes Because the calculation may take a few seconds only one pass is carried out each time you press W Key Y Key This key is used to define a target point for inverse CAMERA kinematics during CAMERA simulation To use this command you must be in the top side view display mode A crosshair cursor is displayed after pressing Y Key First you specify the target position in the top view clicking LM followed by a LM click in the side view Only the elevation coordinate hight Y value is taken from the side view KISMET User Manual Page 119 Fast Keys F1 Key Reactivates all GEO parts for display This function can be useful after previous use of the N Key F2 Key This function is used to inquire the hardware resou
3. Berichte For schungszentrum Karlsruhe FZKA 5872 ISSN 0947 8620 Jan 1997 KISMET Applications in Robotics and Remote Handling 5 6 7 8 9 10 11 K hnapfel U Leinemann K Schlechtendahl E G Graphics Support for JET Boom Control Proc International Topical Meeting on Remote Systems and Robotics in Hostile Environments Pasco Wa March 29 April 4 1987 28 34 K hnapfel U GBsim JET Graphical Boom Simulator Operators Manual unpublished KFK Report 17 01 01P02C August 1987 Leinemann K K hnapfel U Ludwig A CAD Model Based Remote Handling Control System for NET and JET 15th SOFT Utrecht 19 23 9 1988 K hnapfel U KISMET 3D Grafik zur Planung Programmierung und berwa chung von Telerobotics Applikationen in VDI Berichte Nr 861 3 71 86 VDI Verlag D sseldorf 1990 Leinemann K K hnapfel U Schlechtendahl E G NET Remote Handling Con trol System with CAD Support Proc ANS 3rd Topical Meeting on Robotics and Remote Systems Charleston SC USA 13 16 3 1989 p 5 2 1 5 2 8 K hnapfel U and Ludwig A Graphics and CAD Support for NET ITER Boom Control Proc 16th SOFT London 3 7 Sept 1990 North Holland Amsterdam Vol 2 1347 1352 1991 Leister P K hnapfel U Ludwig A Computer Aided Simulation of a Remote Steam Jet Exchange in a Dissolver Cell Proc ANS 4th Topical Meeting on Robotics and Rem
4. G Krumm VR Technology based Mini mally Invasive Surgery Training using the KISMET Software Proc IMAGINA 96 Monte Carlo 21 23 Feb 1996 145 164 H bner M K hnapfel U Real Time Volume Visualization of Medical Image Data for Diagnostic and Navigational Purposes in Computer Aided Surgery 10th Inter nat Symp on Computer Assisted Radiology CAR 96 Paris F June 26 29 1996 751 756 K hnapfel U Kuhn Ch H bner M Krumm H G MaaB H Neisius B The Karlsruhe Endoscopic Surgery Trainer as an example for Virtual Reality in Medical Education Minimally Invasive Therapy and Allied Technologies MITAT 1997 6 122 125 Blackwell Science Ltd Robotics Basics and Theory Background reading 21 22 23 24 Paul R P Robot Manipulators Mathematics Programming and Control MIT Press Cambridge Mass 1981 Lee C S G Robot Arm Kinematics Dynamics and Control Computer Dez 1982 62 80 1982 Desoyer K Kopacek P Troch I Industrieroboter und Handhabungsger te Auf bau Dynamik Steuerung Regelung und Einsatz Oldenbourg M nchen Wien 1985 Adler A Rechnerunterstiitzter Robotereinsatz H thig Heidelberg 1988 In German KISMET User Manual Page 128 References and Literature Robot Languages Programming Standards 25 26 27 28 VDI Richtlinie 2861 Blatt 2 Montage und Handhabungstechnik Kenngr en f r Handhabu
5. INTEGER variables Tabelle 7 List of IRDATA Commands KISMET User Manual Page 133 Mnemonic HS No Com No Description NE 2152 e GREATER or EQUAL compare REAL varia bles LT 21285 2153 e LOWER THAN compare INTEGER variables 2154 e LOWER THAN compare REAL variables NOT 21276 2155 NOT operation bit function AND 21277 2156 e logical AND function OR 21278 2197 logical OR function XOR 21279 2158 exklusive OR function GEN 21400 2159 et Define VECTOR variable 2160 et Define ORIENTATION variable 2161 et Define WORLD variable 2162 et Define JOINT variable 2163 Define ADX variable additional axis TYPCON 21500 2164 e Conversion INTEGER gt REAL 2165 e Conversion REAL gt INTEGER 2166 e Conversion INTEGER gt CHARACTER 2167 e Conversion CHARACTER gt INTEGER 2168 Conversion WORLD gt JOINT 2169 Conversion JOINT gt WORLD 2170 e Conversion INTEGER gt POINTER 217le Conversion POINTER gt INTEGER NUMCON 21502 2172 Number Conversion STRCON 21503 2173 STRING Conversion CONCAT 21600 2174 Concatenate STRINGs EXTRCT 21610 2175 Extraction of STRINGs GETCHR 21620 2176 getchar function SETCHR 21630 2177 setchar function CHECK 21700 2178 range check DEFSYM 22001 2200 e Reserve memory for symbolic variables GENSAR 22002 2201 e Reserve memory for symbolc arrays Tabelle 7 List of IRDATA Commands KISMET User Manual Page 134
6. VECTORs 2118 et Subtract WORLD variables MUL 21220 2119 et Multiply INTEGER variables 2120 et Multiply REAL variables 2121 et VECTOR scalar product 2122 et VECTOR cross product 2123 et Rotate VECTOR 2124 et WORLD Matrix multiplication Tabelle 7 List of IRDATA Commands KISMET User Manual Page 132 Mnemonic HS No Com No Description 2125 et Transform VECTOR 2126 et Rotate WORLD Matrix 2127 et Transform WORLD variable DIV 21230 2128 e Divide INTEGER variable 2129 et Divide REAL variable 2130 et Divide VECTOR variable MOD 21240 213l e Modulus function VECDOT 21250 2132 et VECTOR dotproduct WLDREL 21260 2153 et WORLD Transformation ATAN2 21270 2134 e Arc tangent EQ 21280 2135e EQUAL compare CHARACTER variables 2136e Compare INTEGER variables 2137 e Compare REAL variables 2138 e Compare VECTOR variables 2139 e Compare ORIENTATION variables 2140 e Compare WORLD variables NE 21281 2141 e NOT EQUAL compare CHARACTER varia bles 2142 e NOT EQUAL compare INTEGER variables 2143 e NOT EQUAL compare REAL variables 2144 e NOT EQUAL compare VECTOR variables 2145 e NOT EQUAL compare ORIENTATION varia bles 2146 e NOT EQUAL compare WORLD variables GT 21282 2147 e GREATER compare INTEGER variables 2148 e GREATER compare REAL variables LE 21283 2149 e LOWER or EQUAL compare INTEGER varia bles 2150 e LOWER or EQUAL compare REAL variables GE 21284 2151 e GREATER or EQUAL compare
7. for details NEW MODEL KISMET starts a new model looking for sim files in the current working directory User defined MODULE This function is used to start external modules to KISMET as a parallel process The availa ble submenus are listed in a popup menu To make an entry in this list use the kismetrc file WFRM display ON OFF Enables or disables the display of available workframes See chapter 12 WFRM for further information concerning the KISMET workframe concept Collision Test ON OFF Enables or disables the collision test In the first step of the test all FRAME boxes of the model are tested for the moving parts If any hit accurs the second stage of the test checks the GEO boxes If they collide too then a third and final stage in the test checks the geometry surfaces This approach taken in KIS MET is both computationally effective and at the same time accurate You can configure the behaviour of the test to some extend see chapter 17 1 Collision Test Options For example you can define a minimum distance check KISMET User Manual Page 116 19 Fast Keys Some KISMET commands can be executed by means of FUNCTION KEYs instead of popup menus or panel buttons This method is used for these commands for two reasons l to save time for the user during KISMET operation no walking up and down the menu tree 2 for some commands a free screen is required and or the mouse input channels are used The follo
8. max value 202 et define accell one joint in percentage of max value FEDRAT 2003 203 et define TCP speed for LIN motion given in per centage of max value 204 et define speed all joints given in percentage of max value 205 et def speed one joint in percentage of max value MOVTIM 2004 206 et Set motion command execution time ORICHA 2005 207 e Define orientation change mode POSCP 2006 208 LIN motion flypoint mode POSAX 2007 209 joint motion flypoint mode Tabelle 7 List of IRDATA Commands KISMET User Manual Page 131 Mnemonic HS No Com No Description USEIR 2008 210 et Select robot for following commands AXREL 2030 211 et Set hand mode redundant positions LINENO 1000 100 et Comment TOOLNA 17001 1700 global tool definition TOOLDE 17002 1701 et Set TCP offset ABS 21010 2100 e Absolute value INTEGER 2101 e Absolute value REAL 2102 e Absolute value VECTOR NEG 21020 2103 e Negation INTEGER REAL VECTOR RND 21030 2104 e Rounding to nearest INTEGER SQRT 21100 2105 e Square root SIN 21110 2106 e Sine function COS 21120 2107 e Cosine function TAN 21130 2108 e Tangent function ASIN 21140 2109 e Arc sine function ACOS 21150 2110e Arc cosine function ADD 21200 2llle Add INTEGER variables 2112 et Add REAL variables 2113 et Add VECTORs 2114 et Add WORLD variables SUB 21216 2115e Subtract INTEGER variables 2116 et Subtract REAL variables 2117 et Subtract
9. to the F10 Key command F9 Key This function enables disables the SMEAR mode When SMEAR is enabled the workcell display is not cleared before the next rendering cycle This function can be used for example to visualize the workspace of a ROBOT F10 Key Is used to generate an SGI image file SGI rgb format of the workcell view together with the MMI panel area of the KISMET display The image size is typically 1280x1024 pixels Everything else is similar as in the F7 Key command F11 Key The lighting model is switched to Local Viewer mode toggle function By default all lightsources are assumed to be located infinite far away In Local Viewer mode the lighting calculations become more realistic i e the quality of the image is increased A dra wback is that the graphics performance is decreased F12 Key The lighting model is switched to Twosided Lighting mode toggle function The default state in KISMET is OFF Esc Key Escape This function key is a shortcut to the QUIT command Stop KISMET Home Key Enables drawing of the FZK company logo in the lower left corner of the workcell view area toggle function KISMET User Manual Page 121 20 The Full Screen Mode 20 1 Introduction If you run KISMET in the Full Screen Mode the Stereo Mode or the Window Mode you have to use pop up menus instead of the menu panels By pressing the right mouse button RM the uppermost menu in the command
10. 17 OPTIONS This submenu is used to collect some KISMET menu functions which are used rarely or do not fit into one of the other menu groups Incr UIEW Input ON Incr MOVE Input lm ON SPACEBALL Interface OFF Figure 65 Options Menu Incr VIEW Input ON OFF Determines the input behaviour of the mouse device for the VIEWING commands You can choose between differential mode default and integrating mode When integrating incremental mode is OFF the input value is calculated between the last and the current position A non zero value is passed to KISMET only when you move the mouse In incremental mode the mouse movement will be added to the last input value Le a non zero input may be provided when the mouse is not moved on the table and while a mouse button is pressed down In this mode the input value is reset to zero when you release the mouse button s Incr MOVE Input ON OFF Determines the input behaviour of the mouse device for the MOVE commands You can choose between differential mode default and integrating mode See Incr VIEW Input ON OFF for details SPACEBALL Interface ON OFF Enables or disables the SPACEBALL Interface Collision Test Options Calls the submenu to define the current options of the collision test algorithm It is used to define some extended tests and to specify the minimum distance test parameters See 17 1 Collision Test Options FEM Postprocessing Calls th
11. 6 Begin of parallel program execution PAREND 22510 2237 End of parallel program execution SEQBEG 22520 2238 Begin of sequential program execution SEQEND 22530 2239 End of sequential program execution START 22535 2240 Start of a TASK CANCEL 22540 2241 Cancelation of a TASK SUSPND 22550 2242 et TASK Suspension TSKHLD 22560 2243 TASK Hold TSKCON 22570 2244 TASK Continuation TSKSTA 22580 2245 Return TASK status STARTX 22590 2246 Start another program CONBEG 22700 2247 Begin of start condition CONEND 22710 2248 End of start condition DURBEG 22720 2249 Begin of duration DUREND 22730 2250 End of duration SEMINI 22800 2251 et Initialise a SEMAPHORE variable WAIT 22810 2252 et WAIT Operation SIGNAL 22820 2253 et SIGNAL Operation LIMIT 3000 300 Define joint limits WORKSP 3001 301 Define working space PROSP 3002 302 Define prohibited space DLHEAD 14001 1400 et Header command of a datalist DLEND 14002 1401 et End command of a datalist DLDAT 14100 1402 et Name and constants of a datalist DLOPEN 14200 1403 e Open existing datalist DLGEN 14201 1404 Open new datalist Tabelle 7 List of IRDATA Commands KISMET User Manual Page 136 Mnemonic HS No Com No Description DLCLS 14202 1405 e Close datalist DLEIN 14203 1406 e Read datalist element DLEOUT 14204 1407 Write datalist element ROBNUM 19010 1900 Number and joint count of a robot ROBAX 19020 1901 Type and motion range of single axe
12. NG on page 32 See chapter 9 2 1 Draw Parameters on page 41 See chapter 9 2 2 Display Modes on page 45 See chapter 18 Function selection panel on page 116 See TCPF Setup in chapter 7 2 Motion List of Commands on page 26 See ZPF Setup in chapter 7 2 Motion List of Commands on page 26 See chapter 15 2 Edit GEO on page 80 See chapter 15 3 Edit FRAME on page 89 See chapter 14 2 DETAIL Submenu Edit ABSTRACT on page 75 See chapter 12 2 The WFRM Panel on page 62 See chapter 17 OPTIONS on page 111 See SCRIPT in chapter 18 Function selection panel on page 116 See User defined MODULE in 18 Function selection panel on page 116 See Monitor Mode ON OFF in chapter 13 2 1 The Monitor Master Mode Buttons on page 70 See chapter 16 3 1 The Elastomechanics Panel on page 101 See chapter 16 3 2 Dynamics Sub menu on page 103 See chapter 16 3 4 The Control Panel on page 108 End KISMET KISMET User Manual Page 123 21 The 2Ded Editor for SWEEP Operati ons 2Ded is a simple easy to use 2D editor for interactive modelling of a 2D sweep area region The sweep contour is defined by a surrounding curve which consists of POLYLINE ARC and B SPLINE segments respectively During geometry editing using the Edit GEO submenu and the CREATE operation see 15 2 Edit GEO with the SWEEP primitives rotational and translational SWEEPs the 2D geometry editor 2Ded is starte
13. anual page is shown e When a menu is displayed and you press H Key with the cursor outside the menu area the manual page for the whole menu is shown e When a menu is displayed and you press H Key with the cursor inside the menu area the manual page for that specific highlighted menu command is shown I Key This function key displays the FZK logo in the workcell viewport and gives licensing infor mation in the text panel display K Key Enables Disables the CAMERA view overlay window The virtual CAMERA to be simula ted i e the actual CAMERA is selected in the menus Display Select gt Camera view control gt Select Camera L Key Enables Disables the simulation of ELASTOMECHANICS in KISMET If the required parameters are defined in the application model database this function will show you the bending and torsion of the mechanisms under user definable load conditions The default value is elastomechanics OFF M Key Gives a memory statistics of the current simulation status in the textport diagnosis function Printed are the numbers of GEO elements incl instanced parts GEO CLU STER unique GEO parts FRAMES assembly coordinates systems numbers of GEO points and normals For each of these datatypes the amount of used memory is displayed KISMET User Manual Page 118 Fast Keys N Key This is the magic accelleration key for increasing the display performance By d
14. d as another UNIX process by KISMET The results of the 2D edit session are passed to the KISMET 3D surface generator by file when you Quit 2Ded The following section explains the user MMI of 2Ded Afer starting the 2Ded Editor by creating SWEEP primitives the following submenu is visible 2p Editing 2D Panel Add POLYLINE Add ARC Rdd B Spline Term B Spline 1 Closed B Spline IT Move INSERT ill DELETE i j Pan Scale Close Connect i i SET GRID Size 5 0 1 Point SNRP EM ON I i il DONE CANCEL CLEAR fae d Figure 71 The 2D Editing Panel Add POLYLINE A new POLYLINE segment is started Points are defined on the 2D drawing pad using the LM mouse button The points are interconnected by straight lines ADD ARC A new ARC segment is started The ARC is defined by centre point startpoint and enclosed angle Use LM to define start and centre point in this definition order Then use the MM button to increase decrease the enclosed ARC angle Add B Spline A new B SPLINE segment is started Each click of LM defines another control point on the drawing pad The curve PRECISION can be varied using the and function keys The KISMET User Manual Page 124 The 2Ded Editor for SWEEP Operations first and last control points of a B SPLINE segment are always duplicated by 2Ded to gua rantee CURVE continuity for interconnected segments Term B Sp
15. e submenu for Finite Element Postprocessing See 17 2 FEM Postprocessing Write Tree File This function can be used to generate an ASCII file of the workcell datatree The command gives options when called to limit the amount of data dumped on the file It can be used to get a printout of all transformation parameters matrices GEO names and transformations KISMET User Manual Page 111 OPTIONS and a lot more The file may become very big The filename is fixed to out_tree It is saved in the current directory where KIMSET has been started File Management Tool Source Data Operations Destination fusrl people hans1 7 models2 INGRID Pattern gt gt Copy ALL gt gt ES ry Copy Delete x3 ry DLR_SHMTEST Rename Edit envlib FMTraining Rename Edit images FORCE_NEW ipaste mpclib FORCE_TEST mpdlib MIC_IO SET kis_home M mpolib TCP_Display scripts bilder teachlib bin bitmaps diagram dumpster edith_daten fileout tif glpg hans hans2 images manual Mbox fw DONE Database kis_home usr1 people hans1 models2 D Figure 66 File Managemet Tool 17 1 Collision Test Options This submenu defines the current options of the collision test algorithm In active mode the col lision test encounters collisions or near misses between the moving mechanisms or robots and environmental parts of the workcell Also collisions between different robots are detect
16. ed You can configure the collision test with the option in this submenu You can specify a near miss distance the behaviour of the robot when the test detects a bump etc After a collision is detected the beep is sounded and the colliding parts are highlighted cyan colour wireframe rendering For the numerical collision check a set of hierarchical tests is per formed by KISMET for each display cycle The upper levels of the algorithm use bounding bo xes around the model subassemblies FRAMEs and GEO elements Those details inside the bounding box which pass these tests are not further checked In the next step a geometrical surface test is performed with those parts whose bounding boxes have collided KISMET User Manual Page 112 OPTIONS These multilevel tests give both acceptable performance and a sufficient accuracy Collision Test Setup Test BODY Insides OFF STOP when Collide OFF SET Min DISTRNCE mm u Deactivate FRAME CT Reactivate FRAME CT Deactivate ROBOT CT Reactivate ROBOT CT SAVE CT Pattern one Figure 67 Collision Test Setup Test BODY Insides YES NO Toggle function for additional testing of BODY insides For the first two stages of the colli sion test algorithm i e for the testing of FRAME and GEO bounding boxes the hardware of the graphics workstation is used The third stage actually tests geometric surfaces this testing is done in software The bounding box
17. ed FRAME from the collision test Reactivate FRAME CT Reactivates all parts connected to the selected FRAME for the collision test KISMET User Manual Page 113 OPTIONS Deactivate ROBOT CT Deactiate a specific robot from the collision testing e g CAMERAS inactive robots defi ned in the KISMET scene but not relevant to the specific task Reactivate ROBOT CT Reactivates a specific ROBOT for collision testing which was proviously dactivated e SAVE CT Pattern Save the current settings to a SCRIPT file For reloading a stored collision test pattern use the SCRIPT button 17 2 FEM Postprocessing This functions are useful for postprocessing of results coming from calculations using the Finite Element Method Flow Processing or other timeseries datasets SCALAR Values FRINGE Display 5 rice Displeu F Displace SHELL Displace VECTORS d Colour Code Window Scale Factor SCALE Displacements DONE MOVIE Player Figure 68 FEM Postprocessing VECTOR Display ON OFF Toggles the rendering of displacement vectors SCALAR Values ON OFF Toggles the overlay display of the scalar values as strings at each node FRINGE Display ON OFF Toggles the display of stress fringes i e coloured tiles acoording to the stress values at the nodes TILE Display ON OFF Toggle the display of the displaced FE shell Displace SHELL ON OFF KISMET User Manual Page 114 OPTIONS Toggles the re
18. efault KISMET draws all active GEO elements in the application model When the N Key is pressed KISMET checks which parts of the model are currently visible in the main view port These parts are marked and remain active for further display All currently invisible GEO elements i e those outside the window are disabled for further display until the N Key is pressed again or everything is enabled using the F1 Key Using the N Key can give a drastic increase in display performance if only some parts of the model are currently visible and required for display Please note that for all following viewing operations like Zoom Change View Direc tion etc the disabled parts still remain invisible KISMET does not check by itself which parts would become visible when the window attributes are modified by some user interac tion So if you miss some elements of your model use the N Key again or enable all parts with the F1 Key The test carried out after N Key is very intensive in computing time So it would not be very useful at all to do the test in KISMET for every redraw cycle R Key This key is used to enter a new program step in Teach mode The new robot program command is selected from a menu For each robot programming code a dedicated Teach menu panel is displayed each time you press the R Key Then the command is chosen from this menu submenus are called if necessary
19. hierarchy will appear All other menus are invoced from the Main menu To select a specific command or a sub menu indicated by gt press LM or MM Notice Since in Full Screen Mode most of the popup menu commands and or submenus have slightly different names as 1n the panel MMI mode all panel command titles and the corre sponding submenu names are listed here You will find after each command a reference to the command used with the panel MMI 20 2 Main menu Move Modes Activate ROBOT Teach Repeat Viewing Drawmode Dispaly Select Collision Test on off Define TCP Define ZEROPOINT Edit Geo Edit FRAME Edit ABSTRACT Edit WFRM Miscellaneous VIVI VI VIV Exec SCRIPT File Start MODULE ROBOT online Elastomechanics Dynamics Control Quit KISMET User Manual Page 122 Move Modes Activate ROBOT Teach Repeat Viewing Drawmode Display Select Collision Test on off Define TCP Define Zeropoint Edit GEO Edit Frame Edit Abstract Edit WFRM Miscellaneous Exec Script File Start MODULE ROBOT online Elastomechanics Dynamics Control Quit The Full Screen Mode See chapter 7 2 Motion List of Commands on page 26 See ACTIVATE MECHANISM in chapter 7 2 Motion List of Commands on page 26 See chapter 11 TEACH on page 59 See chapter 10 SIMULATE on page 51 See chapter 8 VIEWI
20. ints will move the edited coordinate to the nearest GRID point of the drawing pad DONE This command is used when the editing session in 2Ded is successfully finished The cureve data will be passed to KISMET The 2D countour is used by the 3D surface generator as sweeping area CANCEL The editing session is stopped escaped cancelled without saving the the segment data to a file There is no datafile passed to the 3D surface generator in KISMET This is the Create GEO operation in KISMET is cancelled too CLEAR Deletes all created segments and clears the pad KISMET User Manual Page 126 22 References and Literature Additional KISMET Documentation 1 2 3 4 K hnapfel U KISMET User Data Specification unpublished KFK Report 17 01 01P27A Dec 1989 K hnapfel U Grafische Realzeitunterstiitzung f r Fernhandhabungsvorg ange in komplexen Arbeitsumgebungen im Rahmen eines Systems zur Steuerung Simulation und Off Line Programmierung Dr Ing Dissertation University Karlsruhe Nov 1991 In German Report KFK5052 KFK Karlsruhe 1992 Baumann K Werkzeuge und Experimente zur Roboterprogrammierung unpu blished KFK Report 17 03 03P16A 1990 In German Kuhn Ch Modellbildung und Echtzeitsimulation deformierbarer Objekte zur Ent wicklung einer interaktiven Trainingsumgebung f r die Minimal Invasive Chirurgie in German Dissertation Universitat Karlsruhe Wissenschaftliche
21. l point of a POLYLINE segment and the startpoint of an ARC segment both segments will change move together if the interconnecting coordinate is changed by a move operation The conour curve is closed by insertion of another POLYLINE edge Connect This function is used to connect curve segments with eachother When segments are not connected default value and two control of different segments have the same coordinates then you can move these points independently from eachother When these points are con nected for example the last control point of a POLYLINE segment and the startpoint of an ARC segment both segments will change move together if the interconnecting coordinate is changed by a move operation KISMET User Manual Page 125 The 2Ded Editor for SWEEP Operations Two segments will be connected with eachother by a common control point Translation of one segment move will shift the other connected segment too Curve Precision For drawing curves are interpolated using a polygonal representation This parameter defi nes the number of interpolations segments The default value is 10 i e each curve seg ment the curve between two control points is rendered using 10 line segments Set GRID Size Allows to define the GRID intervall of the drawing pad The initial value of the GRID size is 5mm Point SNAP ON OFF Enable Disable the SNAP function When the SNAP option is ON by default all edited control po
22. line Terminates the current B Spline segment Closed B Spline Terminates the current B Spline segment by connecting start and end point to get a closed B Spline segment MOVE Allows to move the control points of a segment via the LM valuator input To select a con trol point press LM near the points location Then move the point by dragging the point while LM is pressed down The enclosed angle of ARC segments can be changed via MM The current active for editing segment is highlighted in CYAN color INSERT This function is used to insert new control points for POLYLINE and B SPLINE segments The new control point is inserted next to the position of the nearest control point when LM is pressed down DELETE Deletes the control point nearest to the cursor when LM is pressed A segment is deleted when all of its control points are erased Pan Allows to move the origin of the drawing pad relative to the viewport This function is equi valent to the Move Viewpoint command in KISMET Scale This function allows scaling of the drawing pad LM decreases the pad size by a factor 2 while MM increases the pad size by a factor 2 Close This function is used to connect curve segments with eachother When segments are not connected default value and two control of different segments have the same coordinates then you can move these points independently from eachother When these points are con nected for example the last contro
23. n of partial differential equations by the finite element method Cambridge University Press Cambridge Bronstein I N Semendjajew K A Taschenbuch der Mathematik 20 Auflage p 807 809 Thun Frankfurt Main 1981 Control Submenu 47 48 Yuh J and Tissue D K Adaptive Control for Mechanical Manipulators having a Joint Compliance 1990 Unbehauen H Regelungstechnik LII Vieweg 1982 KISMET User Manual Page 130 Appendix A List of imple mented IRDATA Commands The following table shows a list of IRDATA functions available in the KISMET IRDATA in terpreterr For a detailed description of each command please refer to 28 DIN Norm 66313 Teil 1 IRDATA Schnittstelle zwischen Programmierung und Robotersteuerung Allgemeiner Aufbau Satztypen und bertragung HS No Com No Description 501 et NULPOS 5128 502 MOVE 5000 500 et Point to Point PTP movement Linear LIN movement Move to robot specific ZERO position MOVREF 5256 503 MOVECR 5512 504 et MOVACT 5513 505 ENDPAR 5514 506 MOVSTP 5515 507 et Move to robot specific REFERENCE position Circular Movement returns TRUE if the robot executes a motion command stops parallel program execution for move ments stops a robot motion ACCEL 2001 200 et define TCP accelleration for LIN given in per centage of max value 201 et define accell all joints given in percentage of
24. ndering of the displacement shell Displace VECTORS ON OFF Toggles the rendering of displacement vectors Colour Code Window ON OFF Toggles the rendering of a window with a colourbar for the stress velocity data Scale Factor ON OFF Is used to scale the displacement vectors SCALE DISPLACEMENTS ON OFF Toggles between scaled and unscaled rendering MOVIE Player The MOVIE Player menu is used to control display of time series data like ISOSURFACE geometries and vector fields in KISMET The control buttons are similar to those of a CD or tape player with the options from left to right One timeframe back Play automatic forward function draws frame after frame Advance one timestep Frame No Simul Time 00 00 00 000 DONE Figure 69 The FEM Movie Player Panel KISMET User Manual Page 115 18 Function selection panel The available commands are shown in figure 70 HELP SCRIPT New MODEL User defined MODULE WFRM display OFF Collision Test H OFF Figure 70 The Function Selection Panel e HELP The KISMET Help pages appear if the environment variable kis_help is set Normally kis help should point at the directory usr local kismet kismet help SCRIPT This command is used to start execution of a SCRIPT command file SCRIPT commands provide a textual interface to KISMET SCRIPTS can be used to store command sequences or to control a animation sequence See USER DATA SPECIFICATION
25. ngseinrichtungen VDI Verlag D sseldorf 1982 Blume C Jakob W Programming Languages for Industrial Robots Springer Berlin 1986 Blume C Jakob W Favaro J PASRO Pascal and C for Robots Springer Berlin 1987 DIN Norm 66313 Teil 1 IRDATA Schnittstelle zwischen Programmierung und Robotersteuerung Allgemeiner Aufbau Satztypen und bertragung Beuth Verlag Berlin 1990 Computer Graphics CAD CAM 29 30 31 32 33 Hearn D Baker M P Computer Graphics Prentice Hall International 1986 Foley J D van Dam A Fundamentals of Interactive Computer Graphics Addison Wesley Reading Mass 1982 Newman W M Sproull R F Principles of Interactive Computer Graphics McGraw Hill New York 1979 Encarnacao J Schlechtendahl E G Computer Aided Design Fundamentals and System Springer Berlin 1983 Gratz J F Handbuch der 3D CAD Technik Modellierung mit 3D Volumensyste men Siemens AG Berlin M nchen 1989 CAD Data Exchange Neutral Formats 34 35 36 37 38 Schlechtendahl E G ed Esprit Project 322 Specification of a amp cadid2 Neutral File for CAD Geometrie Version 3 3 Springer Heidelberg 1988 Schlechtendahl E G ed Esprit Project 322 amp cadid2 CAD Data Transfer for Solid Models Springer Heidelberg 1989 Br ndli N Mittelst dt M Exchange of S
26. of the file is rt xx rgb where xx is the current number 1 of all files in that directory with the suffix rgb The portion of the screen saved into the image file depends on wether the calculation is carried out in FULLSCREEN mode or not In normal mode only the big viewport is saved i e the screen area 120 1119 192 991 In FULLSCREEN mode the screen area 1 1278 1 1022 is saved in the RGB file F6 Key This function key starts the calculation of one image in RAYTRACING mode In addition to shadows the raytracing mode can also calculate light reflection between objects and refraction in transparent parts The resulting display is saved into an image file when the calculation is finished see F5 Key F7 Key Is used to generate an SGI image file SGI rgb format of the workcell view In non full screen mode an image of size 1000x800 pixels is saved in fulls screen mode the image size corresponds to the display size typically 1280x1024 pixels The resulting image file is written into the directory SHOME images if this directory doesn t exist the file is written into the current directory The filename is generated automatically by KISMET the files are called im_xx rgb where xx is the current number 1 of all files in that directory with the suffix rgb To save as well the current KISMET panel together with the workcell view KISMET User Manual Page 120 Fast Keys please refer
27. olid Models Current State and Future Trends Computer Aided Design Vol 21 Nr 2 87 96 1989 Mittelst dt M The CATIA KISMET Link at JET Concept Realization and Ope ration unpublished KFK Report 17 01 01P19A June 1989 Pleschounig W The JET Ex Vessel Display unpublished KFK Report 17 01 01P35A May 1991 Elastomechanics Submenu 39 Krumm H G Kuehnapfel U Esprit Project 5542 MDS unpublished report KISMET User Manual Page 129 40 41 References and Literature Kernforschungszentrum Karlsruhe November 1991 Judd R P Falkenburg D R Dynamics of Nonrigid Robot Linkages IEEE Transactions on Automatic Control Vol AC 30 1985 p 499 502 Kopacek P Desoyer K Lugner P Modelling of flexible Robots An Introduc tion Proceedings of the IFAC Symposium on Robot Control 1988 SYROCO 1988 Karlsruhe Dynamics Submenu 42 43 44 45 46 Krumm H G Real Time Calculation of Static Deflections and Real Time Dynamics for Robots with KISMET Modelling and Simulation 1992 Proceedings of the 1992 European Simulation Multi conference ESM 92 York Shabana A A Dynamics of Multibody Systems John Wiley amp sons New York 1989 Walker O Orin D E Efficient Dynamic Computer Simulation of Robotic Mecha nisms Journal of Dynamic Systems Measurement and Control Vol 104 p 205 211 Sep tember 1982 Johnson C Numerical solutio
28. ote Systems Albuquerque NM USA 353 364 1991 KISMET User Manual Page 127 12 13 14 15 References and Literature Leinemann K K hnapfel U Ludwig A Remote Handling Control with Graphi cal Man Machine Interface for NET and JET in Robotics and Remote Maintenance Concepts for Fusion Machines IAEA TEC DOC 495 Wien 215 226 1989 Patentschrift Verfahren zur Manipulation in unzug nglichen Arbeitsbereichen Patentschrift DE 3925275 C2 Deutsches Patentamt Bundesdruckerei 1991 Leinemann K NET Remote Workstation Report KfK 4785 Karlsruhe 1990 Leinemann K Advanced Tele Operator Support for Fusion Plant Maintenance Proc 91 Int Symp on Advanced Robots Technology Tokyo Japan 5 7 Marz 1991 Robotics Robotics Simulation Medical Applications of KISMET 16 17 18 19 20 U Kihnapfel B Neisius CAD modellbasierte graphische Echtzeit Computersi mulation fiir die endoskopische Chirurgie In German KfK Nachrichten Jahrgang 25 Nr 4 1993 201 206 Kihnapfel U Krumm H G Kuhn C Hiibner M Neisius B Endosurgery simu lations with KISMET a flexible tool for surgical instrument design operation room planning and VR technology based abdominal surgery training Virtual Reality World 795 Conference Documentation Stuttgart 21 23 Feb 1995 M nchen Computer woche Verlag 1995 165 171 U K hnapfel Ch Kuhn M H bner H
29. owing conditions theoutput is started only if a robot program IRDATA is executed the Repeat mode must be NON REALTIME This is necessary for KISMET to get constant time intervals for the simulation and to calculate with some accuracy the exe cution time the active ROBOT is used touse this command option proceed as follows KISMET User Manual Page 117 Fast Keys 1 ACTIVATE the robot for which you like to generate the TIMESERIES data 2 LOAD an IRDATA program 3 SET the program simulation mode to NON REALTIME 4 ENABLE the TIMESERIES option by pressing the G Key 5 KISMET will ask you to ENTER the filename 6 START the robot program KISMET will now write to the file KISMET will automatically disable this mode when the robot program is finished H Key This function enables the KISMET HELP utility The HELP utility allows to display KIS MET help pages in a seperate overlay window Each help page explains a specific TOPIC The system is organized in a top down help tree i e the higher levels in the tree display more general TOPICS whereas the lower levels explain in detail every command available in KISMET From inside the HELP window you may select in most cases new TOPICS Use the lt ESC gt key to quit the HELP system If you press the H Key the HELP function works as follows When a valuator function is attached no menu is visible on the display then the first most general KISMET m
30. rces of your graphics workstation The data is written to the file SGI_type in the current directory Please refer to the glGet 3G manual page for a detailed description of the various parameters F3 Key This command is used to perform a depthpass filter calculation of the main workcell view scene antialiasing using the accumulation buffer The function is useful to achieve an antialiased image in solid drawmodes Because the calculation may take a few seconds only one pass is carried out each time you press F3 Key F5 Key This function key starts the calculation of one image in RAYCASTING mode In raycasting mode KISMET calculates correctly real shadows in the scene but no mirror reflections or light refraction in transparent objects To calculate these effect too use RAYTRA CING mode F6 Key In fact the raycasting mode is using the same routines in KIS MET as raytracing But it is executed with a ray depth limit of 1 KISMET is using all parts of the user defined lighting model file lgt and material definitions file mat for the computation To study the approximate lighting conditions in the image in the normal dra wing modes Gouraud user lights in realtime you should start KISMET with the 1 option Note Only one viewport i e the main viewport is calculated The resulting image is automatically saved into the directory 5HOME rtimages as an SGI RGB imagefile The name
31. s IOSTAT 23010 2300 Request I O status of an I O channel DATOUT 23100 2301 et Data output terminal DATIN 23200 2302 et Data input terminal RPOMPT 23300 2303 Wait for condition or start signal DIGIN 23610 2304 e Digital input ANIN 23620 2305 e Analogue input DIGOUT 23710 2306 e Digital output ANOUT 23720 2307 e Analogue output 28XXX 2235 e Application specific extensions of command family 28000 are ignored LOX 2235 e Application specific extensions of command family 29000 are ignored Tabelle 7 List of IRDATA Commands Abbreviations Mnemonic Mnemotechnical Command Name see VDI Richtlinie 2863 HS No IRDATA command No see VDI Richtlinie 2863 Com No Internal Codenumber e Command is executable in KISMET t Command is teachable X Arbitrary number 0 to 9 KISMET User Manual Page 137
32. test hardware function only detects a real intersection between a GEO part and the bounding box side facets If a part is completely inside the test box for example when the box coincides with the workcell walls this hard ware test would fail and no further testing is done stages 2 and 3 of the algorithm To avoid this failure of the test you may activate an additional software test which checks if any parts are completely inside a FRAME bounding box It depends on the model topology if this additional testing is necessary The default mode is OFF NO Stop when Collide YES NO You can define if the moving ROBOT model shall stop when a COLLISION is detected or not When the ROBOT stops it will be displayed in the last non colliding position In monitoring mode the synthetic view shall represent the current position of the RH devices regardless of any collisions i e the model should not stop in KISMET after a col lision or near miss was detected In simulation mode the stop function should be set to YES to avoid geometric intersections between colliding parts Set Min Distance This function is used to define the collision distance for the minimum distance test The parameter is defined in mm If this is set different from 0 the bounding boxes used for the collision test are enlarged by the defined amount This is a near miss check is perfor med Deactivate FRAME CT Deactivate all parts connected to the select
33. wing section describes in detail each funktion key C Key This function key is used to send a CAMERA message to the real camera control system The active CAMERA is used D Key Enables Diagnostic mode In this mode some system model and system parameters are printed to the textport This mode is mainly used during KISMET software development but some users may find the output useful The amount and type of printed data may vary between different KISMET versions For this reason no further decumentation is given here Just try and see what happens E Key The E Key can be used to disable enable the BEEP at your SGI workstation Usually KISMET is using the BELL sound BEEP to attract the operators attention for errors warnings and requests Sometimes you may want to switch it off The default is beep ON F Key Enables disables the FULLSCREEN mode In this mode the whole graphics display is used as the scene viewport the resolution is increased G Key This function is used to enable TIMESERIES output to a file This is for each display cycle program iteration step the execution time all joint positions and the TCP position is writ ten to an ASCII output file These position data are used by the utility diagram and other programs The TIMESERIES file is saved into the path kis home teachlib pos data filename The filename is defined by the user when the G KEY was pressed The command works only under foll
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