Robots and robot parts have properties that you can use to configure a robot model. You can view and configure the properties of a robot and robot parts in the Properties table of the Robot Simulation Model Builder. The properties of a robot part include the part ID, visual information, and physical information. Edit values in the Properties table to configure the properties of the robot model.
Use the following methods to configure the properties of a robot part:
The following table contains descriptions of the properties that you use to configure a robot part.
|Property||Where to Configure Property||Description|
|Movable||If the value is True, the robot part is a stationary object which has infinite mass.|
|Mass||Defines the mass of a robot part.
|Mass Center||Defines the center of the mass or gravity. The center of mass is the point in the robot part where the entire mass is concentrated.|
|Inertia Matrix||Inertia Matrix is a 3x3 matrix that describes the way to distribute mass of the body around the center of mass. The Mass Center and Inertia Matrix are only effective when the Inertia Matrix is not all-zero.|
|Material Type||Defines the friction coefficient of a robot part at the contact point with other parts. Refer to the Kinetic Friction Coefficient Table VI in the labview\vi.lib\robotics\Simulator\Interface\Utility directory to view a table of the default friction coefficients for each type of material.
|Subspace Name||A subspace represents a collection of robot parts and joints that are located near each other. This property defines the name of the subspace. Robot parts in the same subspace cannot collide with each other.|
|Color||Sets the color of a robot part. If the robot part has texture, this item changes the color of the physical model. If the robot part does not have texture, this item changes the color of the visual model.|
|Resolution (EU)||Robot Simulation Model Builder||Sensor resolution is the smallest change a sensor can detect in the quantity that the sensor is measuring. Engineering Unit (EU) is the unit defined by different sensors.|
|Sample Rate (Hz)||Robot Simulation Model Builder||Defines the rate at which sensors do sampling.|
|Ground Level||CAD Model Importer||Defines the position of the ground plane along the z-axis.|
|Roller Number||Configure Wheel Dialog Box||The number of rollers on the wheel frame.|
|Radius Offset||Configure Wheel Dialog Box||The offset between the roller position and the radius of the wheel frame.|
|Row Number||Configure Wheel Dialog Box||The number of rows of rollers on an Omni wheel.|
|Height Offset||Configure Wheel Dialog Box||The position of rollers on the height axis of an Omni wheel frame. This property only works when the row number is larger than 1.|
|Roller Orientation||Configure Wheel Dialog Box||Defines the orientation of the rollers on a Mecanum wheel.|
|Twist Angle||DH Arm Generator Dialog Box||Defines the angle, in radians, between the rotation axis of the joint of this link and the rotation axis of the next joint with respect to the link.|
|Length||DH Arm Generator Dialog Box||Defines the length of the link between the joint of this link and the next joint.|
|Rotation Angle||DH Arm Generator Dialog Box||Defines the angle of rotation, in radians, between this link and the next link along the rotation axis of the joint that connects the links.|
|Offset Distance||DH Arm Generator Dialog Box||Defines the distance from this link to the next link along the axis of the joint that connects the links.|
|Joint Displacement||DH Arm Generator Dialog Box||Joint displacement is the displacement from the joint to the origin of the coordinate system of the Denavit-Hartenberg (DH) arm along the Z- axis of the coordinate system.|