The robot coordinate system represents the posture of a robot in a 3D environment. The posture of a robot contains the position and orientation of the robot. In the Robot Simulation Model Builder, the red, green, and blue rays represent the X-, Y-, Z- axes of the robot coordinate system. The intersection of the three rays is the origin of the robot coordinate system. The green grid is the XY plane of the system, which crosses the origin and the X- and Y- axes. The origin of the robot must coincide with the origin of the robot coordinate system. Use the 3D positioner, as shown in the following figure, to move a robot or component model along the X-, Y-, and Z- axes in the robot coordinate system.
As you design a robot model in the builder, you can view the robot model in the Model View preview window. The following table lists actions you can perform to customize your view of the robot model or objects in the Model View.
|Move the camera around the scene.||Click and drag the environment.|
|Zoom in and out of the 3D scene.||Hold <Shift>, and then click and drag in the 3D scene.|
|Reposition the environment within the scene.||Hold <Ctrl>, and then click and drag the environment.|
You can specify the position and orientation of a robot model in the Model View. The following table lists actions you can perform to drag, rotate, or reposition the robot parts in the Model View.
|Move a component along the axes.||Click and drag the component along the X-, Y-, and Z- axes.|
|Rotate a robot model or component around the axes of the robot model.||Click and drag the component along the XY-, YZ-, XZ- axes.|
|Move the component along the Z- plane surface.||Hold <Ctrl> and drag the component.|
|Undo the last action.||Press <Ctrl–Z>.|
If you need to change the posture of multiple components in the Model View, select the root component of multiple components in the Parts Hierarchy tree, right-click the root component, and select Select Branch from the shortcut menu to select all the components that belong to this root. You also can select multiple components by holding <Ctrl> and selecting multiple items in the Parts List or Parts Hierarchy tree.
To specify the exact position and orientation of a robot model, use the Properties table to configure the properties of robot parts.