position (x/y) d [...] axis R d [...] Output dR LREAL

: dX = a1 + d4 dY = -d3 dZ = d1 + a [...] (the values of d

RailJoints ARRAY [0..2] OF SMC_VECTOR3D [...] PlateJoints ARRAY [0..2] OF SMC_VECTOR3D Inout Const vTCP SMC_VECTOR3D

_Matrix3 Input iRow DINT d0 LREAL d1 LREAL d

.Kin_ArticulatedRobot_6DOF Output d1 LREAL 320 a [...] d3 LREAL 35 a3 LREAL 0 d4 LREAL 225

Rot SMC_Vector3d In [...] space. vU SMC_VECTOR3D STRUCT(dX := 0, d

*pi] and dAlpha1 <= dAlpha2 holds. Note that d

a phase dTau1 of [...] by / j_hgh if dT < dTau1 j_k = | j

dOffsetA LREAL 0 [...] _TRAFO_SCARA3 ) dOffsetB LREAL 0 [...] _TRAFO_SCARA3 ) dOffsetC LREAL 0

interval of dTs seconds [...] interval of dTs_0 seconds (with 0 <= d