offset

Russian translation: смещение

GLOSSARY ENTRY (DERIVED FROM QUESTION BELOW)
English term or phrase:offset
Russian translation:смещение
Entered by: Vitali Stanisheuski

11:22 Apr 9, 2005
English to Russian translations [PRO]
Tech/Engineering / robot parameters
English term or phrase: offset
Topic: Manipulator
The Manipulator topic contains parameters associated with motion control in the robot and external axes, e.g.:
- The commutation ***offset***
- The calibration ***offset***
- The working space limits


Defining the commutation offset and calibration offset of the motors
These values are generally updated from the Service window. If, however, they are known, they can be specified in the System Parameters window.
• Choose Topics: Manipulator.
• Choose Types: Motor Calib.
• Select the desired motor and press Enter |«->|.
• Select the desired parameter and change its value.
• Press OK to confirm the change.
---------------
Parameter--------------Description
Name-----------------The name of the motor, e.g. motorl (max. 16 characters).
Calibration offset-------------The position of the motor (resolver) when it is in the calibration position (in radians).
Cal ***offset*** valid---------------Specifies whether the calibration ***offset*** is defined.
Commutator ***offset***--------------The position of the motor (resolver) when the rotor is in the electrical zero position relative to the stator (in radians).
Com ***offset*** valid-----------Specifies whether the commutation ***offset*** is defined.

--------------------------
Defining kinematic parameters for general kinematics
It is possible to use general kinematics for both master robot and external robots. Definition is not possible via the teach pendant, PC editing of the MOC.cfg file is necessary
MASTER ROBOT
The following data needs to be defined
• Under ROBOTTYPE
- pos_tol_x, pos_tol_y, pos_tol_z (in metres) (Accepted position error in itera
tive inverse kinematics procedure)
- rottolx, rot_tol_y, rottolz (in radians) (Accepted orientation error in itera
tive inverse kinematics procedure)
- base_pose_rot_uO, base_pose_rot_ul, base_pose_rot_u2, base_pose_rot_u3
(Rotation between user defined robot base and internal base according to
Denavit - Hartenberg definition)
- no_ofjoints = 6
- type GENJfQNO For robot with no wrist axes
- type GEN_KIN1 For robot with one wrist axis
- type GEN_KIN2 For robot with two wrist axes

• Under ARM
• For each arm of the robot in question
- rotating_move if rotating axes, excluded otherwise
• Under ARMJTYPE
• For each arm of the robot in question

- length (a according to Craigh's definition)
- ***offset_x = 0
- ***offset_y = 0
- theta_home_position (theta according to Craigh's definition)
- ***offset_z (d according to Craigh's definition)
- attitude (alpha according to Craigh's definition)
Structures with less than 6 axes require a LOCKED definition for all references to the inactive axes
Vitali Stanisheuski
Belarus
Local time: 13:52
смещение
Explanation:
В смысле смещение относительно какого-то заданного положения.


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Note added at 14 mins (2005-04-09 11:36:57 GMT)
--------------------------------------------------

Иногда положение манипулятора задается не координатами, а смещением относительно какого-то другого положения.
Selected response from:

Nik-On/Off
Ukraine
Local time: 13:52
Grading comment
Спасибо!
4 KudoZ points were awarded for this answer



Summary of answers provided
3 +1смещение
Nik-On/Off


  

Answers


13 mins   confidence: Answerer confidence 3/5Answerer confidence 3/5 peer agreement (net): +1
смещение


Explanation:
В смысле смещение относительно какого-то заданного положения.


--------------------------------------------------
Note added at 14 mins (2005-04-09 11:36:57 GMT)
--------------------------------------------------

Иногда положение манипулятора задается не координатами, а смещением относительно какого-то другого положения.


Nik-On/Off
Ukraine
Local time: 13:52
Native speaker of: Native in RussianRussian, Native in UkrainianUkrainian
PRO pts in pair: 2944
Grading comment
Спасибо!

Peer comments on this answer (and responses from the answerer)
agree  Aleksandr Okunev (X): самое то...
1 hr
  -> thank you
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