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The SCARA is a type of industrial robot. The acronym stands for selective compliance assembly robot arm [1] or selective compliance articulated robot arm. [2] By virtue of the SCARA's parallel-axis joint layout, the arm is slightly compliant in the X-Y direction but rigid in the Z direction, hence the term selective compliance. This is ...
The four views of the model are logical, development, process, and physical view. In addition, selected use cases or scenarios are used to illustrate the architecture serving as the 'plus one' view. Hence, the model contains 4+1 views: [1] Logical view: The logical view is concerned with the functionality that the system provides to end-users.
As one of the Enterprise Modeling methods, ARIS provides four different aspects of applications: The ARIS concept: is the architecture for describing business processes. provides modelling methods, the meta structures of which are comprised in information models. is the foundation for the ARIS Toolset software system for the support of modelling.
The four parameters of classic DH convention are shown in red text, which are θ i, d i, a i, α i. With those four parameters, we can translate the coordinates from O i–1 X i–1 Y i–1 Z i–1 to O i X i Y i Z i. The following four transformation parameters are known as D–H parameters: [4] d: offset along previous z to the common normal
Enterprise architecture regards the enterprise as a large and complex system or system of systems. [3] To manage the scale and complexity of this system, an architectural framework provides tools and approaches that help architects abstract from the level of detail at which builders work, to bring enterprise design tasks into focus and produce valuable architecture description documentation.
One of the first well defined function models, was the Functional Flow Block Diagram (FFBD) developed by the defense-related TRW Incorporated in the 1950s. [5] In the 1960s it was exploited by the NASA to visualize the time sequence of events in a space systems and flight missions. [ 6 ]
The position and orientation of a robot's end effector are derived from the joint positions by means of a geometric model of the robot arm. For serial robots, the mapping from joint positions to end-effector pose is easy, the inverse mapping is more difficult.
An architectural model (in software) contains several diagrams representing static properties or dynamic (behavioral) properties of the software under design. [1] [2] [3] The diagrams represent different viewpoints of the system and the appropriate scope of analysis. The diagrams are created by using available standards in which the primary aim ...