Architecture Overview

The WMX3 Robot Option consists of the following components:

• Coordinate RTDLL module and API:

  • Provides data types for representing 6-DOF space including rotation information.

  • Generates end-effector position and velocity trajectories over time in a single operation.

  • Provides coordinate transformation APIs and teaching APIs.

  • Called within the Kinematics module but is not directly related to robot kinematics.

• Kinematics RTDLL module and API:

  • Provides data types for representing robot structure parameters and status information.

  • Provides APIs supporting robot parameter configuration and control functions.

WMX3 Robot Option Architecture Diagram

In WMX3, robot information is managed through separate XML and URDF files as follows:

• XML File

• URDF File