ISO/TS 10303-1817:2014-02 Kinematic analysis control and result


Application module: Kinematic analysis control and result	ISO/TS 10303-1817:2014-02(E) © ISO

Cover page
Table of contents
Copyright
Foreword
Introduction
1 Scope
2 Normative references
3 Terms, definitions and abbreviated terms
3.1 Terms and definitions
3.2 Abbreviated terms

4 Information requirements
4.1 Required AM ARM
4.2 ARM type definitions
4.3 ARM entity definitions
4.4 ARM subtype constraint definition
5 Module interpreted model
5.1 Mapping specification
5.2 MIM EXPRESS short listing

A MIM short names
B Information object registration
C ARM EXPRESS-G
D MIM EXPRESS-G
E Computer interpretable listings
Bibliography
Index


         (*
ISO TC184/SC4/WG12 N7900 - ISO/TS 10303-1817 Kinematic analysis control and result - EXPRESS ARM
Supersedes 
         ISO TC184/SC4/WG12 N7337
*)



SCHEMA Kinematic_analysis_control_and_result_arm;


         USE FROM
         Kinematic_motion_representation_arm;
            -- ISO/TS 10303-1796


TYPE kinematic_analysis_definition =
         
         
         SELECT

            (Interpolated_configuration_sequence, 
    Prescribed_path);

         END_TYPE;


TYPE kinematic_result =
         
         
         SELECT

            (Interpolated_configuration_sequence, 
    Resulting_path);

         END_TYPE;


ENTITY Kinematic_analysis_consistency;

           control : Kinematic_control;

           result : Kinematic_analysis_result;
WHERE

           WR1: control.controlled_mechanism :=: result.analysed_mechanism;

         
         END_ENTITY;


ENTITY Kinematic_analysis_result;

           analysed_mechanism : Mechanism_representation;

           result : kinematic_result;

         
         END_ENTITY;


ENTITY Kinematic_control;

           controlled_mechanism : Mechanism_representation;

           contained_kinematic_programs : kinematic_analysis_definition;

         
         END_ENTITY;


ENTITY Prescribed_path

           SUBTYPE OF (Link_motion_representation_along_path);

           controlling_joints : 
         OPTIONAL 
         SET[1:6] OF Kinematic_joint;

         
         END_ENTITY;


ENTITY Resulting_path

           SUBTYPE OF (Link_motion_representation_along_path);

           controlling_joints : SET[1:?] OF Kinematic_joint;

         
         END_ENTITY;


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