ISO/TS 10303-1798:2018-11 Kinematic state


Application module: Kinematic state	ISO/TS 10303-1798:2018-11(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
4.5 ARM function 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
F Change history
Bibliography
Index


         (*
ISO/TC 184/SC 4/WG 12 N9366 - ISO/TS 10303-1798 Kinematic state - EXPRESS ARM
Supersedes 
         ISO/TC 184/SC 4/WG 12 N7906
*)



SCHEMA Kinematic_state_arm;


         USE FROM
         Kinematic_structure_arm;
            -- ISO/TS 10303-1797


TYPE ksa_initial_application_domain_enumeration =
         
         ENUMERATION
         
         BASED_ON 
         initial_application_domain_enumeration
         WITH 
         

            
         (kinematic_state);

         END_TYPE;


TYPE spatial_rotation =
         
         
         SELECT

            (ypr_rotation, 
    Rotation_about_direction);

         END_TYPE;


TYPE ypr_enumeration =
         
         ENUMERATION
         
         OF
         

            
         (yaw,
    pitch,
    roll);

         END_TYPE;


TYPE ypr_rotation =
         ARRAY[ypr_index(yaw):ypr_index(roll)] OF plane_angle_measure;

         END_TYPE;


ENTITY Cylindrical_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Cylindrical_pair;

           actual_translation : length_measure;

           actual_rotation : plane_angle_measure;

         
         END_ENTITY;


ENTITY Gear_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Gear_pair;

           actual_rotation_1 : plane_angle_measure;
DERIVE

           actual_rotation_2 : plane_angle_measure := - actual_rotation_1 *
         SELF\pair_value.applies_to_pair\
         gear_pair.gear_ratio;

         
         END_ENTITY;


ENTITY Mechanism_state_representation

           SUBTYPE OF (Representation);

           SELF\Representation.items : SET[1:?] OF Pair_value;

           represented_mechanism : Mechanism_representation;
DERIVE

           SELF\Representation.context_of_items : Geometric_coordinate_space := represented_mechanism.context_of_items;

         
         END_ENTITY;


ENTITY Pair_value

           ABSTRACT SUPERTYPE
         
         OF (ONEOF (Sliding_surface_pair_value,
                                Rolling_surface_pair_value,
                                Revolute_pair_value,
                                Prismatic_pair_value,
                                Screw_pair_value,
                                Cylindrical_pair_value,
                                Spherical_pair_value,
                                Sliding_curve_pair_value,
                                Rolling_curve_pair_value,
                                Gear_pair_value,
                                Rack_and_pinion_pair_value,
                                Universal_pair_value,
                                Planar_pair_value,
                                Unconstrained_pair_value,
                                Point_on_surface_pair_value,
                                Point_on_planar_curve_pair_value))

           SUBTYPE OF (Detailed_geometric_model_element);

           applies_to_pair : Kinematic_pair;

         
         END_ENTITY;


ENTITY Planar_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Planar_pair;

           actual_rotation : plane_angle_measure;

           actual_translation_x : length_measure;

           actual_translation_y : length_measure;

         
         END_ENTITY;


ENTITY Point_on_planar_curve_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Point_on_planar_curve_pair;

           actual_point_on_curve : Point_on_curve;

           input_orientation : spatial_rotation;
WHERE

           WR1: SELF\pair_value.applies_to_pair\point_on_planar_curve_pair.pair_curve
            :=: actual_point_on_curve.supporting_curve;

         
         END_ENTITY;


ENTITY Point_on_surface_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Point_on_surface_pair;

           actual_point_on_surface : Point_on_surface;

           input_orientation : spatial_rotation;
WHERE

           WR1: SELF\pair_value.applies_to_pair\Point_on_surface_pair.pair_surface :=:
            actual_point_on_surface.supporting_surface;

         
         END_ENTITY;


ENTITY Prismatic_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Prismatic_pair;

           actual_translation : length_measure;

         
         END_ENTITY;


ENTITY Rack_and_pinion_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Rack_and_pinion_pair;

           actual_displacement : length_measure;
DERIVE

           actual_rotation : plane_angle_measure := 0.0;

         
         END_ENTITY;


ENTITY Revolute_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Revolute_pair;

           actual_rotation : plane_angle_measure;

         
         END_ENTITY;


ENTITY Rolling_curve_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Rolling_curve_pair;

           actual_point_on_curve_1 : Point_on_curve;
WHERE

           WR1: SELF\pair_value.applies_to_pair\planar_curve_pair.curve_1 :=:
            actual_point_on_curve_1.supporting_curve;

         
         END_ENTITY;


ENTITY Rolling_surface_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Rolling_surface_pair;

           actual_point_on_surface : Point_on_surface;

           actual_rotation : plane_angle_measure;
WHERE

           WR1: SELF\pair_value.applies_to_pair\surface_pair.surface_1 :=:
            actual_point_on_surface.supporting_surface;

         
         END_ENTITY;


ENTITY Rotation_about_direction

           SUBTYPE OF (Detailed_geometric_model_element);

           direction_of_axis : Direction;

           rotation_angle : plane_angle_measure;
WHERE

           WR1: SIZEOF (direction_of_axis.direction_ratios) = 3;

         
         END_ENTITY;


ENTITY Screw_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Screw_pair;

           actual_rotation : plane_angle_measure;

         
         END_ENTITY;


ENTITY Sliding_curve_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Sliding_curve_pair;

           actual_point_on_curve_1 : Point_on_curve;

           actual_point_on_curve_2 : Point_on_curve;
WHERE

           WR1: SELF\pair_value.applies_to_pair\planar_curve_pair.curve_1 :=:
            actual_point_on_curve_1.supporting_curve;

           WR2: SELF\pair_value.applies_to_pair\planar_curve_pair.curve_2 :=:
            actual_point_on_curve_2.supporting_curve;

         
         END_ENTITY;


ENTITY Sliding_surface_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Sliding_surface_pair;

           actual_point_on_surface_1 : Point_on_surface;

           actual_point_on_surface_2 : Point_on_surface;

           actual_rotation : plane_angle_measure;
WHERE

           WR1: SELF\pair_value.applies_to_pair\surface_pair.surface_1 :=:
            actual_point_on_surface_1.supporting_surface;

           WR2: SELF\pair_value.applies_to_pair\surface_pair.surface_2 :=:
            actual_point_on_surface_2.supporting_surface;

         
         END_ENTITY;


ENTITY Spherical_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Spherical_pair;

           input_orientation : spatial_rotation;

         
         END_ENTITY;


ENTITY Unconstrained_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Unconstrained_pair;

           actual_placement : Axis_placement_3d;

         
         END_ENTITY;


ENTITY Universal_pair_value

           SUBTYPE OF (Pair_value);

           SELF\Pair_value.applies_to_pair : Universal_pair;

           first_rotation_angle : plane_angle_measure;

           second_rotation_angle : plane_angle_measure;

         
         END_ENTITY;


SUBTYPE_CONSTRAINT kss_geometric_representation_item_subtypes FOR Detailed_geometric_model_element;

           ONEOF (Rotation_about_direction,
         Su_parameters);
      
         END_SUBTYPE_CONSTRAINT;


FUNCTION ypr_index
 (ypr : ypr_enumeration) : INTEGER;

CASE ypr OF
    yaw    : RETURN (1);
    pitch  : RETURN (2);
    roll   : RETURN (3);
  END_CASE;
  RETURN (?);


         END_FUNCTION;



         END_SCHEMA;  -- Kinematic_state_arm