1、 IEC 62714-3 Edition 1.0 2017-01 INTERNATIONAL STANDARD NORME INTERNATIONALE Engineering data exchange format for use in industrial automation systems engineering Automation markup language Part 3: Geometry and kinematics Format dchange de donnes techniques pour une utilisation dans lingnierie des s
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20、gineering data exchange format for use in industrial automation systems engineering Automation markup language Part 3: Geometry and kinematics Format dchange de donnes techniques pour une utilisation dans lingnierie des systmes dautomatisation industrielle Automation markup language Partie 3: Gomtri
21、e et cinmatique INTERNATIONAL ELECTROTECHNICAL COMMISSION COMMISSION ELECTROTECHNIQUE INTERNATIONALE ICS 01.040.01; 25.040.01; 35.240.30 ISBN 978-2-8322-3794-6 Registered trademark of the International Electrotechnical Commission Marque dpose de la Commission Electrotechnique Internationale Warning!
22、 Make sure that you obtained this publication from an authorized distributor. Attention! Veuillez vous assurer que vous avez obtenu cette publication via un distributeur agr. colour inside 2 IEC 62714-3:2017 IEC 2017 CONTENTS FOREWORD . 6 INTRODUCTION . 8 1 Scope 10 2 Normative references 10 3 Terms
23、 definitions and abbreviations . 10 3.1 Terms and definitions 10 3.2 Abbreviations 11 4 Conformity . 11 5 Extensions of AML libraries for geometry and kinematics. 11 5.1 General . 11 5.2 AutomationMLBaseRoleClassLib RoleClass Frame 11 5.3 AutomationMLInterfaceClassLib 11 5.3.1 InterfaceClass COLLAD
24、AInterface . 11 5.3.2 InterfaceClass AttachmentInterface . 12 6 Frame attribute 12 7 Integration of COLLADA documents 13 8 Attachment of two AML objects 14 9 Meta information about the COLLADA source tool . 15 Annex A (informative) Referencing methods for geometric/kinematic descriptions 17 A.1 Inte
25、gration of a common COLLADA document with explicit referencing . 17 A.1.1 General . 17 A.1.2 Definition of the Frame attribute. 18 A.1.3 Structure of the COLLADA documents . 20 A.1.4 Referencing using URI and fragments without a target and ID . 23 A.1.5 Referencing using URI and fragments including
26、a target without an ID 23 A.1.6 Referencing using URI without a fragment, including a target and an ID 24 A.1.7 Referencing using URI and fragments including a target and an ID 25 A.1.8 Referencing using URI without a fragment, target and ID . 26 A.2 Implicit referencing of COLLADA elements 27 A.2.1
27、 General . 27 A.2.2 Implicit referencing 27 A.2.3 Implicit referencing to COLLADA subdocuments 29 A.2.4 Publishing elements of a COLLADA document in CAEX . 33 A.3 Attachment between objects in CAEX . 35 Annex B (informative) Modelling of kinematic systems and their combination in AML . 41 B.1 Genera
28、l . 41 B.2 Modelling an AML document of a linear unit in CAEX and COLLADA 41 B.2.1 General . 41 B.2.2 Definition of the visual scene . 41 B.2.3 Definition of the joint 43 B.2.4 Definition of the kinematic model . 43 B.2.5 Definition of the articulated system 43 B.2.6 Definition of the kinematic scen
29、e . 45 B.2.7 Assembling of the scene 45 B.2.8 Combination of CAEX and COLLADA into AML 46 IEC 62714-3:2017 IEC 2017 3 B.3 Modelling an AML document of a robot in CAEX and COLLADA 47 B.3.1 General . 47 B.3.2 Definition of the visual scene . 48 B.3.3 Definition of joints 50 B.3.4 Definition of the kin
30、ematic model . 51 B.3.5 Definition of the articulated system 51 B.3.6 Definition of the kinematic scene . 54 B.3.7 Assembling of the scene 55 B.3.8 Combination of CAEX and COLLADA into AML 56 B.4 Modelling an AML document of a combined system including a robot and a linear axis in CAEX and COLLADA .
31、 58 B.5 Modelling an AML document of a gripper connected to robot in CAEX and COLLADA . 61 B.5.1 General . 61 B.5.2 Definition of the visual scene . 62 B.5.3 Definition of the kinematic system 63 B.5.4 Assembling of the scene 71 B.5.5 Combination of CAEX and COLLADA into AML 72 B.6 Modelling an AML
32、document of a work piece connected to a gripper in CAEX and COLLADA 75 B.6.1 General . 75 B.6.2 Implicit upper boundary . 75 B.6.3 Definition of the work piece 77 B.6.4 Combination of CAEX and COLLADA into AML 78 Annex C (informative) XML representation of AML libraries . 82 C.1 AutomationMLBaseRole
33、ClassLib 82 C.2 AutomationMLInterfaceClassLib 82 Figure 1 Overview of the engineering data exchange format AML 8 Figure 2 Required XML text in case of ISO/PAS 17506 16 Figure 3 Required XML text in case of COLLADA 1.4.1 16 Figure A.1 Decision tree for different referencing methods . 17 Figure A.2 Tw
34、o frames represented in the InstanceHierarchy of an AML document . 18 Figure A.3 XML representation of the AML document . 18 Figure A.4 Translation and spatially fixed rotation 19 Figure A.5 COLLADA scene used in this example 20 Figure A.6 Structure and References . 20 Figure A.7 Content of the COLL
35、ADA document cube.dae . 21 Figure A.8 Content of the COLLADA document red_blue_cubes.dae 22 Figure A.9 “RedCube” Hierarchy of the AML document . 23 Figure A.10 XML representation of the AML document . 23 Figure A.11 Referencing the red cube by ID . 23 Figure A.12 “BlueCube” Hierarchy of the AML docu
36、ment . 24 Figure A.13 XML representation of the AML document . 24 Figure A.14 Referencing the blue cube 24 Figure A.15 Hierarchy of the AML document 24 Figure A.16 XML representation of the AML document . 25 4 IEC 62714-3:2017 IEC 2017 Figure A.17 Referencing the blue cube starting from the element
37、subpart” 25 Figure A.18 Hierarchy of the AML document 25 Figure A.19 XML representation of the AML document . 25 Figure A.20 Referencing the blue cube 26 Figure A.21 Hierarchy of the AML document 26 Figure A.22 XML representation of the AML document . 26 Figure A.23 Referencing the complete COLLADA
38、 scene 27 Figure A.24 Implicit Referencing: Hierarchy of the AML document . 28 Figure A.25 XML representation of the AML document . 28 Figure A.26 Structure and relations of referenced COLLADA subdocuments 29 Figure A.27 Content of the modified COLLADA document red_blue_cubes.dae . 30 Figure A.28 Co
39、ntent of the COLLADA document red_cube.dae 30 Figure A.29 Content of the COLLADA document blue_cube.dae 31 Figure A.31 XML representation of the AML document . 32 Figure A.33 Additional frame element in COLLADA document 33 Figure A.34 Publishing frames: Hierarchy of the AML document 34 Figure A.35 X
40、ML representation of the AML document . 35 Figure A.36 Structure for attachments between objects in CAEX 36 Figure A.37 Visualization of yellow cube with additional frame . 36 Figure A.38 COLLADA document of yellow cube with additional frame . 37 Figure A.39 Hierarchy of the AML document 38 Figure A
41、40 XML representation of the AML document . 39 Figure A.41 Attachment between geometric AML objects . 40 Figure A.42 XML representation of the AML document . 40 Figure B.1 Visualization of the linear unit . 41 Figure B.2 Definition of the visual scene 42 Figure B.3 Definition of the joint . 43 Figu
42、re B.4 Definition of kinematic model 43 Figure B.5 Definition of the articulated system library. 44 Figure B.6 Definition of the kinematic articulated system 44 Figure B.7 Definition of the motion articulated system 45 Figure B.8 Definition of the kinematic scene 45 Figure B.9 Instantiation of the k
43、inematic scene 46 Figure B.10 Hierarchy of the AML document 46 Figure B.11 XML representation of the AML document . 47 Figure B.13 Definition of the visual scene 50 Figure B.14 Definition of joints . 50 Figure B.15 Definition of kinematic model 51 Figure B.16 Definition of the articulated system lib
44、rary . 51 Figure B.17 Definition of the kinematic articulated system 53 Figure B.18 Definition of the motion articulated system 54 Figure B.19 Definition of the kinematic scene. 55 Figure B.20 Instantiation of the kinematic scene 56 IEC 62714-3:2017 IEC 2017 5 Figure B.21 Hierarchy of the AML docume
45、nt 57 Figure B.22 XML representation of the AML document . 57 Figure B.24 Hierarchy of the AML document 59 Figure B.25 XML representation of the AML document . 60 Figure B.26 XML representation of the AML document . 60 Figure B.27 Visualization of the robot attached to the linear unit 61 Figure B.30
46、 Definition of the visual scene 63 Figure B.31 Definition of the kinematics . 64 Figure B.32 Definition of joints . 64 Figure B.33 Definition of kinematic model 65 Figure B.34 Definition of the articulated system . 66 Figure B.35 Definition of the articulated system . 67 Figure B.36 Definition of th
47、e kinematic scene. 68 Figure B.37 Definition of the joint dependency using MathML 68 Figure B.38 XML representation of the COLLADA document gripper_kinematics.dae . 71 Figure B.39 XML representation of the COLLADA document gripper.dae . 72 Figure B.40 Hierarchy of the AML document 73 Figure B.41 XML
48、 representation of the AML document . 74 Figure B.42 XML representation of the AML document . 75 Figure B.43 Visualization of the robot on a linear unit and attached gripper . 75 Figure B.44 Example for implicit upper boundary . 76 Figure B.45 Structure for attachments between objects in CAEX 76 Figure B.46 Visualization of the work piece with additional frame . 77 Figure B.48 Hierarchy of the AML document 79 Figure B.49 XML representation of the AML document . 81 Figure B.50 Attachment between geometric AML objects . 81 Figure B.51 XML representation of the A
