‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

‫ﻞ ﻢ‬
‫‪١۴٣‬‬

‫م ا ار‬

‫‪‬‬

‫‪‬‬

‫‪‬‬

‫‪‬‬

‫‪RAK‬‬ ‫‪‬‬

‫‪RAK‬‬ ‫‪PA10-7C‬‬ ‫‪‬‬

‫‪‬‬

‫‪‬‬
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

RAK
١۴۴

RAK

RAK

1 GHz 

RAM 512 MB 

50 MB 

64 MB 

Vista XP 

1
Robotic Arms Kinematics
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

http://www.dihav.com/pro.html?id=rak

RAKSetup.exe RAK
١۴۵

Install Start

Desktop RAK

StartAll Programs
 ‫‪١۴۶‬‬ ‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

‫‪F2‬‬
‫‪RAK‬‬
‫‪RAK‬‬
 ‫‪١۴٧‬‬ ‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

‫‪F5‬‬
‫‪F8‬‬
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
١۴٨

Ctrl + N

Ctrl + Shift + N

Ctrl + O

1
New
2
Blank Robot (Ctrl + N)
3
From Existing File (Ctrl + Shift + N)
4
From Templates
5
Open
6
Existing File (Ctrl + O)
7
Recently Opened File
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

Ctrl + S
١۴٩

Ctrl +

Shift + S

Enter

rarm

Ctrl + I

Ctrl + Shift + I

1
Save
2
Save Robot (Ctrl + S)
3
Save as … (Ctrl + Shift + S)
4
Save as Template
5
Import/Export
6
Import to Current Page (Ctrl + I)
7
Import (Ctrl + Shift + I)
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
١۵٠

csv, txt

bmp, jpg, gif, png, rps

3ds, prj, obj, objf, md2, q3bsp, bsp, stl

js, vbs, txt

Ctrl + E

Ctrl + Shift + E

csv, txt, html

bmp, jpg, gif, png, rps

wrl

js, vbs, txt

bmp, emf, wmf, png

txt, xls, tee

1
Export Current Page (Ctrl + E)
2
Export All (Ctrl + Shift + E)
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

Ctrl + P

Ctrl + Shift + P
١۵١

Enter

Enter

Enter

1
Print (Ctrl + P)
2
Print Preview (Ctrl + Shift + P)
3
Print Setup
4
Tables Options
5
Font
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

Languages English.lng
١۵٢

PNG

Languages

Help

1
Language
2
Theme
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

Ctrl + F1 F1

Shift + F1
١۵٣

http://www.dihav.com/hlp.html?id=rak

Active Script

1
Help
2
Help Contents (F1)
3
Search Help (Ctrl + F1)
4
Online Help (Shift + F1)
5
Java Script Help
6
VB Script Help
7
Tutorials
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
١۵۴

RAK

http://www.dihav.com/pro.html?id=rak

Ctrl + F4 Alt + F4

Shift + F4

System Tray

1
About…
2
About RAK
3
License
4
Send Comments
5
Check for Updates
6
Hom epage
7
Exit
8
Exit (Alt + F4)
9
Save and Exit (Ctrl + F4)
10
Exit without Saving
11
Hide Program (Shift + F4)
 ‫‪١۵۵‬‬ ‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

‫‪1‬‬
‫‪x‬‬

‫‪Joints‬‬
‫‪System Tray‬‬

‫‪z y‬‬
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
١۵۶

1
Insert Row
2
Delet e Row
3
Refresh
4
Joints
 ‫‪١۵٧‬‬ ‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

‫‪1‬‬
‫‪a‬‬

‫‪DH Parameters‬‬
‫‪θ‬‬
‫‪α‬‬
‫‪d‬‬

‫‪°‬‬
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
١۵٨

z y x z y x

1
Joints Range
2
Arbitrary Points
 ‫‪١۵٩‬‬ ‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

‫‪1‬‬
‫‪3D Model‬‬
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
١۶٠

1
Navigation Tool
2
All Tools
3
Rotate
4
Pan
5
Zoom
6
Reset View
7
Scene Background Color
8
Scene Objects
9
Plane
10
Cube
11
Cylinder
12
Cone
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
١۶١

Insert

1
Sphere
2
Revolution
3
Extrusion
4
Pipe
5
Custom Object
6
Duplicate Object
7
Delet e Object
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
١۶٢

1
Analysis
2
Designing
3
Joints Values
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
١۶٣

1
Insert Set
2
Duplicate Set
3
Delet e Set
4
Default Joints Values

6
Move Robot
 ‫‪١۶۴‬‬ ‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

‫‪1‬‬
‫‪Frames‬‬
‫‪z‬‬
‫‪y‬‬
‫‪x‬‬
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
١۶۵

z y x

1
Kinematics
2
Clear Table
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

, z y x
١۶۶

[] ()

x ? *

10, –8, 5 
(10, –8, 5) 
[10, –8, 5] 
|10, –8, 5| 
10, *, 5 
10, ?, 5 
10, x, 5 
7, x, x 

1.414 = 1, 0, 1 

1
Inverse Kinematics
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

1.414 = (1, 0, 1) 
1.414 = [1, 0, 1] 
1.414 = |1, 0, 1| 
2 = 1, *, ? 
2 = |1, x, *| 
١۶٧

2 = (1, 1, *) 
5.362 

2 = 1, 0, 1 
2 = 2, 3, * 
1, 0, z 
* 
1, 2 
2 = 1, 0 

1
Active Script
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

F9

F12
١۶٨

1
Execute Script (F9)
2
Stop Running Script (F12)
3
Java Script
4
VB Script
5
Script Background Color
6
Undo (Ctrl + Z)
7
Redo (Ctrl + Shift + Z)
8
Cut (Ctrl + X)
9
Copy (Ctrl + C)
10
Paste (Ctrl + V)
11
Sel ect All (Ctrl + A)
12
Find/Replace (Ctrl + F)
13
Read Only
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
١۶٩

1
Open File
2
Insert from File
3
Save to File
4
Toggle Bookmark (Ctrl + Shift + 0-9)
5
Go t o Bookmark (Ctrl + 0-9)
6
Record/Stop Recording Macro (Ctrl + R)
7
Pla yback Macro (Ctrl + Shift + R)
8
Load Macro
9
Save Macro
10
Execute Script (F9)
11
Stop Running Script (F12)
12
Script Language
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
١٧٠

1
Graphs
2
Navigation Tool
3
Zoom
4
Pan
5
All Tools
6
View Entire Chart
7
Graph Background Color
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

RAK
١٧١

RAK

Microsoft Active Script

RAK

Active Script

RAK

SI

1
Delet e Sel ected Series
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

VB Script Java Script

Java Script VB Script

١٧٢

+ +

– –

* *

/ /

% Mod

= =

== =

!= <>

< <

> >

<= <=

>= >=

&& And

|| Or

! Not
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

End
١٧٣

VB Script Java Script

Java Script VB Script

//… /*…*/ '… Rem …

Public …

Private …

Const …

var … Dim …

If Then
If ( )

[else
[else
]
]
End If
switch ( ){
case : Select Case
Case
case :
…
… Case Else
default:
End Select
}
For = To
for ( ; ;
[Step ]
)

Next
While
while ( )

Wend
continue;

break; Exit For Exit Do

‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

try On Error Resume

Next
catch( )
On Error GoTo 0
throw ;

Sub [( )]
١٧۴

End Sub
function ([ ])
Function [( )]
{

End Function
}
return( ); =

Ctrl + Space

Constants

RAK Include

INCLUDE

' //

Include

.vbs .js
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

Math

Include
١٧۵

Infinity (+∞)

NegInfinity (−∞)

PI (π = 3.14159265358979)

E (e = 2.71828182845905)

Exp(x) ex

Ln(x) x

Log10(x) x

LogB(x, base) base x

Round(x, digit) 10digit x

Sqr(x) x2

Sqrt(x) x0.5

Power(base, exponent) baseexponent

Sign(x) x

Abs(x) x

Max(a, b) b a

Min(a, b) b a

SameValue(a, b, epsilon) epsilon b a

‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

IsZero(x, epsilon) epsilon x

Ceil(x) x

Floor(x) x

InRange(x, value1, value2) value2 value1 x

١٧۶

EnsureRange(x, value1, value2) value2 value1 x

FixNumber(x, digit) 10digit x

Random()

Cos(x) x

Sin(x) x

Tan(x) x

ArcCos(x) x

ArcSin(x) x

ArcTan(x) x

ArcTan2(y, x) (x, y)

Cosh(x) x

Sinh(x) x

Tanh(x) x

ArcCosh(x) x

ArcSinh(x) x

ArcTanh(x) x
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

RAK

RAK.
١٧٧

ExePath Read Only

ID Read Only

LanguageFile(index) Read Only

RobotFileName Read Only

ScriptRunning false

StatusText

TemporaryPath Read Only

Visible true/false

Delay(milliseconds)

ExitProgram(mode) RAK

mode

emNormal =0

emSaveAndExit =1

emExitWithoutSaving =2

emHideProgram =3

ProcessMessages
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

ShowTab(id)

id

tiJointsValues =0

tiFrames =1
١٧٨

tiKinematics =2

ti3DModel =3

tiActiveScript =4

tiGraphs =5

Sleep(milliseconds) RAK

StopRunningScript

ConvertFromProgramUnit(number, type)

SI

ConvertToProgramUnit(number, type) SI

type

unLength =0

unAngle =1

unLinearVelocity =2

unAngularVelocity =3

unLinearAceleration =4

unAngularAceleration =5
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

ShowMsgBox(message, dialogtype, buttons) message

buttons dialogtype

mtWarning =0
١٧٩

mtError =1

mtInformation =2

mtConfirmation =3

mtCustom =4

mbYes =1

mbNo =2

mbOK =4

mbCancel =8

mbAbort = 16

mbRetry = 32

mbIgnore = 64

mbAll = 128

mbNoToAll = 256

mbYesToAll = 512

mrNone =0

mrOk =1
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

mrCancel =2

mrAbort =3

mrRetry =4

mrIgnore =5
١٨٠

mrYes =6

mrNo =7

mrAll =8

mrNoToAll =9

mrYesToAll = 10

TickCount RAK

RobotModel

RobotModel.

ArbitraryPointColor(index, colorelement)

colorelement

ceValue =0

ceRed =1

ceGreen =2

ceBlue =3

ceAlpha =4
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

ArbitraryPointCount

ArbitraryPointDirection(index, vectorelement)

vectorelement
١٨١

veSize =0

veX =1 x

veY =2 y

veZ =3 z

veXAngle =4 x

veYAngle =5 y

veZAngle =6 z

veUnitX =7 x

veUnitY =8 y

veUnitZ =9 z

ArbitraryPointLink(index)

ArbitraryPointName(index)

ArbitraryPointPosition(index, vectorelement)

ArbitraryPointSize(index)

ArbitraryPointVisible(index)

DHa(index) a

DHAlpha(index) α

DHd(index) d
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

DHTheta(index) θ

JointColor(index, colorelement)

JointCount

JointDirection(index, vectorelement)
١٨٢

JointMaxAcceleration(index)

JointMinAcceleration(index)

JointMaxValue(index)

JointMinValue(index)

JointMaxVelocity(index)

JointMinVelocity(index)

JointPosition(index, vectorelement)

JointSize(index)

JointType(index)

jtRevolute =0

jtPrismatic =1

LinkColor(index, colorelement)

LinkCount

LinkDirection(index, vectorelement)

LinkEndPosition(index, vectorelement)

LinkLength(index)

LinkSize(index)
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

Robot

Robot.
١٨٣

ArbitraryPointAcceleration(index, vectorelement) Read Only

ArbitraryPointAngularAcceleration(index, vectorelement) Read Only

ArbitraryPointAngularVelocity(index, vectorelement) Read Only

ArbitraryPointCount Read Only

ArbitraryPointDirection(index, vectorelement) Read Only

ArbitraryPointPosition(index, vectorelement) Read Only

ArbitraryPointVelocity(index, vectorelement) Read Only

ASPoinOnLink AS

AS

ASPointAcceleration(vectorelement) Read Only AS

‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

ASPointAngularAcceleration(vectorelement)Read Only AS

ASPointAngularVelocity(vectorelement) Read Only AS

ASPointDirection(vectorelement) Read Only AS

ASPointPosition(vectorelement) Read Only AS

١٨۴

ASPointVelocity(vectorelement) Read Only AS

EndEffectorAngle Read Only

EndEffectorDirection(vectorelement) Read Only

FrameCount Read Only

FrameOrigin(index, vectorelement) Read Only

FrameTranslationMatrix(fromindex, toindex, col, row) Read Only

fromindex toindex col row

FrameVisible(index) Read Only

FrameXAxis(index, vectorelement) Read Only x

FrameYAxis(index, vectorelement) Read Only y

FrameZAxis(index, vectorelement) Read Only z

JointAcceleration(index)

JointCount Read Only

JointDirection(index, vectorelement) Read Only

JointsValuesSet

JointsValuesSetCount Read Only

JointsValuesSetIndex
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

JointsValuesSetName(index)

JointValue(index)

JointVelocity(index)

LinkAngularAcceleration(index, vectorelement) Read Only

١٨۵

LinkAngularVelocity(index, vectorelement) Read Only

LinkCount Read Only

LinkEndAcceleration(index, vectorelement) Read Only

LinkEndPosition(index, vectorelement) Read Only

LinkEndVelocity(index, vectorelement) Read Only

ModelingAsHomePosition

true/false

Time

ASPointSetDirection(x, y, z) AS

ASPointSetPosition(x, y, z) AS

CalculateKinematics

JointsValuesSetDelete(index)

JointsValuesSetInsert(name, index)

name index

Move(seconds)
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

ResetTimeValues

ResetIKValues

SetIKGoal(index, locationindex, locationtype,

goaltype, vectorelement, goalvalue) index
١٨۶

locationindex

locationtype

ilLink =0

ilEndEffector =1

ilArbitraryPoint =2

ilActiveScriptPoint =3 AS

ilEndEffectorAngle =4

goaltype

igPosition =1

igDirection =2

igAngularVelocity =3

igAngularAceleration =4

igLinearVelocity =5

igLinearAceleration =6

goalvalue vectorelement
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

InverseKinematics(differntialdelta, tolerance,
maxiterations, ikgoalcount, limitjointsrange)

differntialdelta
١٨٧

tolerance

maxiterations

ikgoalcount

true limitjointsrange

false true

JointsValuesSetAdd(name) name

FileDialog

FileDialog.

FileName

Filter

| | | |…|n |n

Text Files|*.txt|Bitmap Files|*.bmp|All Files|*

‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

FilterIndex

PicturePreview true

SaveDialog false true

١٨٨

Title

SetAsAnimationSaveDialog

SetAsGraphSaveDialog

SetAsSnapShotSaveDialog

Execute true

Scene

Scene.

ArbitraryPointColor(index, colorelement)

BackgroundColor(colorelement)

CameraPosition(vectorelement) Read Only

CameraTarget(vectorelement) Read Only

ConeSlices(index)

CylinderBottomRadius(index)
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

CylinderSlices(index)

CylinderTopRadius(index)

ExtrusionContourCount(index) Read Only

ExtrusionContourSpline(index, contourindex)
١٨٩

ExtrusionEndPlanes(index)

ExtrusionNodeCount(index, contourindex) Read Only

ExtrusionNodeY(index, contourindex, nodeindex) Y

ExtrusionNodeZ(index, contourindex, nodeindex) Z

ExtrusionSplineDivision(index)

FrameAlpha(index) Alpha

JointColor(index, colorelement)

LightColor(colorelement)

LinkColor(index, colorelement)

ObjectColor(index, colorelement)

ObjectCount Read Only

ObjectDirection(index, vectorelement) Read Only

ObjectHasTexture(index)

ObjectName(index)

ObjectOnLink(index)
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

ObjectPosition(index, vectorelement) Read Only

ObjectRollAngle(index)

ObjectScale(index, vectorelement) Read Only

ObjectTextureMode(index)
١٩٠

tmDecal =0

tmModulate =1

tmBlend =2

tmReplace =3

ObjectTransparentTexture(index)

ObjectType(index) Read Only

otPlane =1

otCube =2

otCylinder =3

otCone =4

otSphere =5

otRevolution =6

otExtrusion =7

otPipe =8

otCustom =9

PipeEndPlanes(index)
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

PipeNodeCount(index) Read Only

PipeNodeR(index, nodeindex)

PipeNodeY(index, nodeindex) Y

PipeNodeZ(index, nodeindex) Z
١٩١

PipeSlices(index)

PipeSpline(index)

PipeSplineDivision(index)

PlaneXTiles(index)

PlaneYTiles(index)

RevolutionEndPlanes(index)

RevolutionFlatNormals(index)

RevolutionNodeCount(index) Read Only

RevolutionNodeY(index, nodeindex) Y

RevolutionNodeZ(index, nodeindex) Z

RevolutionSlices(index)

RevolutionSpline(index)

RevolutionSplineDivision(index)

RevolutionStartAngle(index)

RevolutionStopAngle(index)

RevolutionZOffsetPerTurn(index) Z

Scale

SphereBottomAngle(index)
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

SphereFlatBottom(index)

SphereFlatTop(index)

SphereSlices(index)

SphereStacks(index)
١٩٢

SphereTopAngle(index)

AddFrameToAnimation

ClearObjects

DeleteObject(index)

EndAnimation(filename, type)

vfBOA =0 BOA
vfAVI =1 AVI
vfGIF =2 GIF

ExtrusionClearContours(index)

ExtrusionClearNodes(index,
contourindex, nodeindex)

ExtrusionDeleteContour(index, contourindex)

ExtrusionDeleteNode(index,
contourindex, nodeindex)

ExtrusionInsertContour(index, contourindex)
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

ExtrusionInsertNode(index,
contourindex, nodeindex)

MoveCameraAroundTarget(pitchdelta, turndelta)
١٩٣

MoveTargetInEyeSpace(rightdistance, updistance)

NewAnimation(fps) fps

PipeClearNodes(index)

PipeDeleteNode(index, nodeindex)

PipeInsertNode(index, nodeindex)

ResetBackgroundColor

ResetCamera

ResetCameraSlowly

ResetColors

RevolutionClearNodes(index)

RevolutionDeleteNode(index, nodeindex)

RevolutionInsertNode(index, nodeindex)

SetCameraPosition(x, y, z)

SetCameraTarget(x, y, z)
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

SetObjectDirection(index, x, y, z)

SetObjectPosition(index,x, y, z)

SetObjectScale(index,x, y, z)

Snapshot(filename, type)
١٩۴

ifBitmap =0 Bitmap
ifPNG =1 PNG
ifJPEG =2 JPEG
ifGIF =3 GIF
ifRPS =4 RPS

SnapshotToClipboard

Update

AddObject(type)

AddObjectFromFile(filename)

ExtrusionAddContour(index)

ExtrusionAddNode(index, contourindex)

ObjectIndex(name, casesensitive)

PipeAddNode(index)

RevolutionAddNode(index)
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

SetObjectTexture(index, filename)

true
١٩۵

Graph

Graph.

BackgroundColor(colorelement)

SeriesCount Read Only

SeriesVisible(index)

AddXY(seriesindex, x, y)

Clear

ClearSeriesData(index)

CopyToClipboardBitmap Bitmap

CopyToClipboardMetafile(enhanced) Metafile

enhanced Metafile enhanced true

DeleteSeries(index)

Pan(deltax, deltay)

ResetBackgroundColor

Save(filename, type, undozoom)

‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

undozoom true

gfBitmap =0 Bitmap
١٩۶

gfMetafile =1 Metafile
gfEnhancedMetafile =2 Enhanced Metafile
gfPNG =3 PNG
gfTeeChartBinary =4 TeeChart Binary
gfTeeChartText =5 TeeChart Text
gfExcel =6 Excel
gfText =7 Text

SaveAll(filename, type, undozoom)

SaveSeries(index, filename, type, undozoom)

UndoZoom

Zoom(persent)

ZoomRectangle(left, top, right, bottom)

xlabel title
AddSeries(title, xlabel, ylabel,
red, green, blue, penwidth, red y ylabel x
pointer, marksevery) penwidth blue green

marksevery pointer

marksevery
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

gpNoPointer =0

gpSquare =1 ■
gpCircle =2 ●
١٩٧

gpTriangle =3 ▲
gpDownTriangle =4 ▼
gpCross =5 +
gpDiagonalCross =6 ×
gpStar =7 
gpDiamond =8 ♦
gpSmallDot =9 .
gpNothing = 10
gpLeftTriangle = 11 ◄
gpRightTriangle = 12 ►

Windows

Windows.

CheckBoxChecked(id)

ComponentClicked(id)

false true

ComponentEnabled(id)

ComponentHandle(id) Read Only

‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

ComponentHeight(id)

ComponentLeft(id)

ComponentText(id)

ComponentTop(id)
١٩٨

ComponentVisible(id)

ComponentWidth(id)

LabelAlignment(id)

laLeftJustify =0

laRightJustify =1

laCenter =2

ListItemCount(id) Read Only

ListItemIndex(id)

ListItemText(id, index) index

TextBoxReadOnly(id)

ListClearItems(id)

ListDeleteItem(id, index) index

ListInsertItem(id, item, index) index item

RunApplication(commandline) commandline

RunFile(filename)
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

SetImageFile(id, imagefile)

text window
CreateButton(window, text,
left, top, width, height) width, height left, top
١٩٩

psAutoSize = 0 height width id

window
CreateCheckBox(window, text,
left, top, width, height, checked) width, left, top text

width id checked height

psAutoSize = 0 height

window
CreateComboBox(windo
w, left, top, width, height) id width, height left, top

psAutoSize = 0 height width

window
CreateImage(window, imagefile,
left, top, width, height) left, top imagefile

height width id width, height

psAutoSize = 0

text window
CreateLabel(window, text, left,
top, width, height, alignment) width, height left, top

height width id alignment

psAutoSize = 0
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

left, top window

CreateListBox(window,
left, top, width, height) id width, height

psAutoSize = 0 height width

٢٠٠

window
CreateRadioGroup(window,
text, left, top, width, height) width, left, top text

height width id height

psAutoSize = 0

window
CreateTextBox(window, text, left,
top, width, height, readonly) width, left, top text

id readonly height

psAutoSize = 0 height width

left, top title

CreateWindow(title, left, top,
width, height, resizable, righttoleft) width, height

id resizable

true righttoleft

psCenter = – 1 top left

psAutoSize = 0 height width

FindChildWindow(parenthandle,
childhandle, classname, title) childhandle parenthandle

title classname
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

FindWindow(classname, title) title classname

ListAddItem(id, item) item

lparam wparam message

PostMessage(windowhandle,
٢٠١

message, wparam, lparam) windowhandle

true

lparam wparam message

SendMessage(windowhandle,
message, wparam, lparam) windowhandle

TickCount

RAK PA10-7C

RAK PA10-7C

PA10-7C
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
٢٠٢

PA10-7C

PA10-7C

Model 7 Degree of Freedom

Mass 40 Kg
S1 (rotation) ± 177 deg
S2 (swing) –64 to +124 deg
Joint S3 (rotation) –107 to +158 deg
Operating E1 (swing) ± 174 deg
Range E2 (rotation) ± 255 deg
W1 (swing) ± 165 deg
W2 (rotation) ± 255 deg
Max. S1, S2 axis 57 deg/s
Operating S3, E1 axis 114 deg/s
Speed E2, W1, W2 360 deg/s
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

RAK

Enter
٢٠٣

PA10-7C

(0, 0, 317)

(0, 1, 0) (0, 0, 1)

0 0 317 0 0 1   0 0 317 0 1 0  

0 0 767 0 0 1   0 0 767 0 1 0  
0 0 1274 0 0 1   0 0 1274 0 1 0  
0 0 1317 0 0 1
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
‫‪٢٠۴‬‬

‫‪PA10-7C‬‬

‫)‪(0, 0, 1‬‬ ‫)‪(0, 0, 1317‬‬

‫‪PA10-7C‬‬

‫‪PA10-7C‬‬
 ‫‪٢٠۵‬‬ ‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

‫‪zi‬‬

‫‪PA10-7C‬‬

‫‪PA10-7C‬‬
‫‪α‬‬
 ‫‪٢٠۶‬‬ ‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

‫‪PA10-7C‬‬

‫‪PA10-7C‬‬
 ‫‪٢٠٧‬‬ ‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

‫‪Movement‬‬

‫‪PA10-7C‬‬
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

(600, 200, 700)

y (1, 1, –1)
٢٠٨

Inverse Kinematics

1,1,–1 600,200,700

0,20,0

15

Trajectory

1 //INCLUDE Constants
2 //INCLUDE Math
3
4 //Setting joints initial values
5 Robot.JointAcceleration(1) = 3 * PI / 180;
6 Robot.JointAcceleration(2) = 5 * PI / 180;
7 Robot.JointVelocity(4) = 6 * PI / 180;
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

8
9 var EEV; //End effector velocity variable
10 Graph.Clear; //Clearing chart
11 //Adding a new series to chart
12 var GraphSeriesIndex = Graph.AddSeries('End Effector Velocity / Time',
13 'Velocity (mm/s)', 'Time (s)', 255, 0, 0,
٢٠٩

14 2, gpNoPointer, 0);
15
16 RAK.ShowTab(ti3DModel); //Making "3D Model" tab visible
17 Scene.NewAnimation(10); //Starting new 10 fps animation
18 var LastFrame = 0; //Last frame time variable
19 Scene.ClearObjects; //Clearing all objects of the scene
20 var LastObject = 0; //Last object time variable
21 var ObjIndex; //Path objects index variable
22 var LastTick = RAK.TickCount; //Time variable
23 while (Robot.Time < 7) //Looping for 7 seconds
24 {
25 Robot.Move((RAK.TickCount - LastTick) / 1000); //Moving robot
26 LastTick = RAK.TickCount; //Updating time variable
27 Robot.CalculateKinematics; //Calculating kinematics
28 Scene.Update; //Updating Robot 3D model
29 //Setting 2nd joint acceleration
30 if (Robot.Time > 6) Robot.JointAcceleration(2) = -5 * PI / 180;
31 else if (Robot.Time > 1) Robot.JointAcceleration(2) = 0;
32
33 //Adding end effector velocity to chart
34 EEV = RAK.ConvertToProgramUnit(Robot.LinkEndVelocity(7, veSize),
35 unLinearVelocity);
36 Graph.AddXY(GraphSeriesIndex, Robot.Time, EEV);
37
38 //Adding a frame to animation 100 milliseconds after last frame
39 if (LastTick - LastFrame >= 100)
40 {
41 Scene.AddFrameToAnimation;
42 LastFrame = LastTick;
43 }
44
45 //Adding a sphere to scene at end effector position a seconds after last
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

46 if (LastTick - LastObject >= 1000)

47 {
48 ObjIndex = Scene.AddObject(otSphere);
49 Scene.SetObjectScale(ObjIndex, 0.1, 0.1, 0.1);
50 Scene.SetObjectPosition(ObjIndex, Robot.LinkEndPosition(7, veX),
51 Robot.LinkEndPosition(7, veY),
٢١٠

52 Robot.LinkEndPosition(7, veZ));
53 Scene.ObjectColor(ObjIndex, ceRed) = 200;
54 Scene.ObjectColor(ObjIndex, ceGreen) = 25 * Robot.Time;
55 Scene.ObjectColor(ObjIndex, ceBlue) = 50;
56 Scene.ObjectName(ObjIndex) = 'EE Path ' + ObjIndex;
57 LastObject = LastTick;
58 }
59
60 RAK.ProcessMessages; //Requesting all commands to be done
61 RAK.Delay(10); //Delaying for 10 milliseconds
62 }
63
64 //Asking for a file and saving animation to it
65 FileDialog.SetAsAnimationSaveDialog;
66 if (FileDialog.Execute)
67 Scene.EndAnimation(FileDialog.FileName, FileDialog.FilterIndex);
68

PA10-7C
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

Scene.ClearObjects

(0, 0, 1750)
٢١١

(0.125, 0.125, 0.3) (0, 0, 1600)

(600, 0, 500)

(0.2, 1, 0.2)

1 //INCLUDE Constants
2 RAK.ShowTab(ti3DModel); //Making "3D Model" tab visible
3 var LastTick = RAK.TickCount; //Time variable
4 Robot.ResetIKValues; //Clearing inverse kinematics goals
5 Robot.SetIKGoal(0, 0, ilEndEffector, igDirection, veX, 1); //Defining IK goal
6 Robot.SetIKGoal(1, 0, ilEndEffector, igDirection, veY, 0); //Defining IK goal
7 Robot.SetIKGoal(2, 0, ilEndEffector, igDirection, veZ, -1); //Defining IK goal
8 Robot.SetIKGoal(3, 1, ilArbitraryPoint, igPosition, veX, 0.5); //Defining IK goal
9 Robot.SetIKGoal(4, 1, ilArbitraryPoint, igPosition, veZ, 0.6); //Defining IK goal
10 var Iterations = 100; //Maximum iterations variable
11 for (var t = 0; t < 20; t++) //Looping for 20 steps (10 seconds)
12 {
13 //Defining IK goal
14 Robot.SetIKGoal(5, 1, ilArbitraryPoint, igPosition, veY, 0.05 * t - 0.5);
15 Robot.InverseKinematics(0.01, 0.01, Iterations, 6, true); //Solving IK
16 Scene.Update; //Updating Robot 3D model
17 RAK.ProcessMessages; //Requesting all commands to be done
18 //Ensuring not to move fast
19 if (RAK.TickCount - LastTick < 500)
20 RAK.Delay(500 + LastTick - RAK.TickCount);
21 LastTick = RAK.TickCount; //Setting time variable
22 Iterations = 10; //Next position is near current position, so we need less iterations
23 }
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

RAK
٢١٢

Adept Cobra™ s600

Adept Cobra™ s600

Adept Cobra™ s600

‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

Adept Cobra™ s600

Weight 41 kg
Joint 1 ± 105˚
Joint 2 ± 150˚
Joints Range
Joint 3 210 mm
٢١٣

Joint 4 ± 360˚
Joint 1 386˚/sec
Joint 2 720˚/sec
Joint Speeds
Joint 3 1100 mm/sec
Joint 4 1200˚/sec

KUKA KR 30 HA

KUKA KR 30 HA

KUKA KR 30 HA
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

KUKA KR 30 HA

Number of axes 6
Weight 635 kg
Axis 1 (A1) ±185˚
Axis 2 (A2) +35˚/–135˚
٢١۴

Axis 3 (A3) +158˚/–120˚

Axis Range
Axis 4 (A4) ±350˚
Axis 5 (A5) ±119˚
Axis 6 (A6) ±350˚
Axis 1 (A1) 140˚/s
Axis 2 (A2) 140˚/s
Axis 3 (A3) 140˚/s
Axis Speed
Axis 4 (A4) 260˚/s
Axis 5 (A5) 245˚/s
Axis 6 (A6) 322˚/s
A 2498
B 3003
C 2033
D 1218
Work envelope
E 815
F 1084
G 820
Volume 27.2 m3
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

MOTOMAN HP3JC
٢١۵

MOTOMAN HP3JC

MOTOMAN HP3JC
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

MOTOMAN HP3JC

Controlled Axes 6
Approximate Mass 27 kg
S-Axis (Turning/Sweep) ±160˚
S-Axis (Wall Mount) ±25˚
٢١۶

L-Axis (Lower Arm) +90˚/–85˚

Maximum
U-Axis
Motion +260˚/–105˚
(Upper Arm)
Range
R-Axis (Wrist Roll) ± 170˚
B-Axis (Bend/Pitch/Yaw) ± 120˚
T-Axis (Wrist Twist) ± 360˚
S-Axis 200˚/s
L-Axis 150˚/s
U-Axis 190˚/s
Axis Speed
R-Axis 300˚/s
B-Axis 300˚/s
T-Axis 420 ˚/s

FANUC ARC Mate® 50iC/5L

FANUC ARC Mate® 50iC/5L

 ‫‪٢١٧‬‬ ‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

‫‪FANUC ARC Mate® 50iC/5L‬‬

‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

FANUC ARC Mate® 50iC/5L

Axes 6
Mechanical weight 29 kg
J1 340 (360 option)
J2 230
٢١٨

Motion range J3 373

(degrees) J4 380
J5 240
J6 720
J1 270
J2 270
Motion speed J3 270
(degrees/s) J4 450
J5 450
J6 720

ABB IRB 6620LX

ABB IRB 6620LX

‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
٢١٩

ABB IRB 6620LX

ABB IRB 6620LX

Number of axes 6
Manipulator weight 610 kg (5-axis manipluator only)
Axis 1 1.8 to 33 m
Axis 2 Arm +125˚ to –125˚
Axis 3 Arm +70˚ to –180˚
Working range
Axis 4 Wrist +300˚ to –300˚
Axis 5 Bend +130˚ to –130˚
Axis 6 Turn +300˚ to –300˚
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

Axis 1 3.3 m/s

Axis 2 Arm 90˚/s
Axis 3 Arm 90˚/s
Axis max speed
Axis 4 Wrist 150˚/s
Axis 5 Bend 120˚/s
٢٢٠

Axis 6 Turn 190˚/s

RAK

Adept Cobra™ s600 PA10-7C

FANUC ARC Mate® 50iC/5L MOTOMAN HP3JC KUKA KR 30 HA

ABB IRB 6620LX

‫‪٢٢١‬‬ ‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

‫‪RAK‬‬
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬
٢٢٢

RAK

Constants
Math
RAK
RobotModel

Robot
FileDialog
Scene

Graph
Windows
RAK PA10-7C

Adept Cobra™ s600

KUKA KR 30 HA
MOTOMAN HP3JC
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

FANUC ARC Mate® 50iC/5L

ABB IRB 6620LX
٢٢٣
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

[1] Gagan Adibhatla, Design and Implementation of a Compliance Controller

for the PA10-7CE Seven Degree of Freedom Dexterous Robot, Department of
٢٢۴

Aerospace Engineering and Engineering Mechanics, University of Cincinnati,

http://etd.ohiolink.edu/send-
pdf.cgi/ADIBHATLA%20GAGAN.pdf?acc_num=ucin1195870314, 2007.
[2] Adept Cobra ™ s600 Specifications, Adept Technology Inc,
http://www.adept.com/products/robots/scara/cobra-s600/downloads, 2007.
[3] KR30HA, KR60HA, KR60L45HA, KR60L30HA Technical Data, KUKA
Roboter GmbH, Germany, http://www.kuka-
robotics.com/NR/rdonlyres/F716B454-7E99-4618-B532-
1A529C4206DD/0/kr_30_ha_de.pdf.
[4] HP3JC Robot, MOTOMAN INC,
http://www.motoman.com/datasheets/HP3JC.pdf, 2007.
[5] ARC Mate® 50iC/5L, FANUC Robotics, USA,
http://www.fanucrobotics.com/file-repository/DataSheets/Robots/ARC-Mate-
50iC-5L.pdf, 2009.
[6] IRB 6620LX, ABB Robotics,
http://www05.abb.com/global/scot/scot241.nsf/veritydisplay/00c05dbd3fab287c
c12576400031e7b0/$File/ROBO151EN_A%20tryck.pdf, 2009.
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

[1] http://tams-www.informatik.uni-
hamburg.de/research/robotics/service_robot/hardware/img/6c-free.jpg
٢٢۵

[2] http://www.azizian.ca/PA10.jpg
[3] Gagan Adibhatla, Design and Implementation of a Compliance Controller
for the PA10-7CE Seven Degree of Freedom Dexterous Robot, Department of
Aerospace Engineering and Engineering Mechanics, University of Cincinnati,
http://etd.ohiolink.edu/send-
pdf.cgi/ADIBHATLA%20GAGAN.pdf?acc_num=ucin1195870314, 2007.
[4] Adept Cobra ™ s600 Specifications, Adept Technology Inc,
http://www.adept.com/products/robots/scara/cobra-s600/downloads, 2007.
[5] http://www.adept.com/products/robots/scara/cobra-s600/downloads
[6] http://www.kuka-robotics.com/NR/rdonlyres/B942F187-B76E-4A20-9625-
06054AA25042/0/PR_KUKA_Industrial_Robot_KR30_HA_01.jpg
[7] KR30HA, KR60HA, KR60L45HA, KR60L30HA Technical Data, KUKA
Roboter GmbH, Germany, http://www.kuka-
robotics.com/NR/rdonlyres/F716B454-7E99-4618-B532-
1A529C4206DD/0/kr_30_ha_de.pdf.
[8] http://www.motoman.com/images/robots/HP3JC/UPJ_standalone.jpg
[9] HP3JC Robot, MOTOMAN INC,
http://www.motoman.com/datasheets/HP3JC.pdf, 2007.
[10] ARC Mate® 50iC/5L, FANUC Robotics, USA,
http://www.fanucrobotics.com/file-repository/DataSheets/Robots/ARC-Mate-
50iC-5L.pdf, 2009.
[11]
http://www02.abb.com/global/gad/gad02007.nsf/0/75C2F507827DA2FAC1257
649003D4ED4/$File/IRB_6620LX_mirrored_720.jpg
‫ﺳﻴﻨﻤﺎﺗﻴﻚ ﺑﺎزو ﻫﺎي رﺑﺎﺗﻴﻚ‬

[12] IRB 6620LX, ABB Robotics,

http://www05.abb.com/global/scot/scot241.nsf/veritydisplay/00c05dbd3fab287c
c12576400031e7b0/$File/ROBO151EN_A%20tryck.pdf, 2009.
٢٢۶

Mohammad Yousefi

Robotic Arms Kinematics

2009-10
RAK
Chapter 6: RAK Software

Pages 143 to 220

vahid_you2004@yahoo.com
www.dihav.com