5. Robot Description

This section describes how robots are modeled and represented within the voraus Robot Control. It covers the mathematical foundations and conventions used to define robot kinematics, as well as the various configuration options available to describe different robot architectures.

The voraus Robot Control uses the Denavit-Hartenberg (DH) convention as the primary method for describing robot kinematics. The DH convention provides a systematic approach to assign coordinate frames to each link of a kinematic chain, allowing the relationship between consecutive joints to be expressed through a minimal set of four parameters. This section explains the assignment of coordinate systems according to the DH convention, and the general coordinate system conventions used throughout the system.

Beyond standard serial kinematics, the voraus Robot Control supports a variety of robot architectures. This includes the handling of passive joints in palletizing robots, which do not have their own actuator but are mechanically coupled to other joints, as well as axis coupled at the gearbox (e.g. wrist joints).

Note

This section is currently under development. Not all topics listed above are included yet. The content will be expanded progressively with upcoming voraus.core releases. If you have any questions in the meantime, please contact the voraus support.