Mirroring a Tag Group or Robot Task  

This procedure describes how to mirror a tag group or a robot task.  It can be used when two robots are performing the same action simultaneously.

This procedure has two parts

Mirror Tag allows you to define the an approach axis by selecting the axes to mirror. The default axes to mirror are X and Z when the panel is shown, and the Y-axis is the default approach axis. When the negated or approach axis is determined, a mirrored set of joint values is created for the mirror robot.
The images used as examples in this procedure were generated using the file BodySide_Mirror1.CATProcess.

ascenari.gif (1223 bytes)

Mirroring a Robot Task
 

  1. Click Mirror Tag .

  2. Select a robot task.

    The Mirror dialog box appears:

  3. Select the Robot, then select either a tag or a plane that will serve as the mirror for the tag group or the robot task.

    To select a plane, position the white plane where you want it and click:

    The compass appears where you selected the plane, and the mirror tags appear highlighted in the geometry.

    Also, the coordinates for the plane appear in the Mirror dialog box:

    And the tree appears:

  4. Manipulate the compass to orient the tags. 

  5. Select the robot in which you want to create the mirrored task. 

    The new task is created for the selected robot as well as a new tag group.

Mirroring a Tag Group
 

  1. Click Mirror Tag .

  2. Select a tag group.

    The Mirror dialog box appears:

    A compass and the mirror tag group appear on the geometry.

  3. Manipulate the compass to where you want the tags located.

    The coordinates change dynamically in the dialog box as you manipulate the compass.

  4. When the tags are correctly position, click OK.

    The new mirror tag group is added to the PPR tree.