2022.1.1148.0 ConstrainedModule

1 Overview
2 Where to find
3 Feature Layout
4 How to use in a Robot Body

Overview

The ConstrainedModule allows a user to set up a movement network defined by splines and waypoints that constrains the movement of a FreeModule. Think for example of a trolley moving across a set of rails, or a robot head moving along a predefined path.

Currently the constrained module is only found in Robot Bodies.

Where to find

The feature can be used by manually adding a ConstrainedModule component to a rigged IKController.

This will open the following menu:

Feature Layout

The image below shows the complete feature layout of the ConstrainedModule, separated by action processor.

Constrained Settings Processor
Action Sequence Category	The type of action sequence this processor applies to - IA Chain is the only option.
Add IA Chain	Click this button to add a new IAChain entry to the controller. Does not create a new chain in the scene!
IAChain#1	The first IAChain in the list.
Chain Name	Name of this IAChain.
Joints	A list of all the Kinematic Joints in this IAChain - taken directly from the IKController component on the parent object.
End Effector Mounting Point	Settings related to the end effector (FreeModule).
Visualise Reach	Toggle to visualise the maximum reach of the IAChain in the scene.
Reference Joint	Joint of the IAChain that is used as reference point for the end effector mounting position.
Mounting Point Position Offset	Mounting position offset from the reference joint of the Manipulator.
Mounting Point Rotation Offset	Mounting rotation offset from the reference joint of the Manipulator.

Manipulator Recipes Processor
Action Sequence Category	The type of action sequence this processor applies to - Manipulator Recipe is the only option.
Add Manipulator Recipe	Click this button to add a new IAChain entry to the controller. Does not create a new chain in the scene!
ManipulatorRecipe	The first IAChain in the list.
Recipe name	Name of this IAChain.
Manipulator	A list of all the Kinematic Joints in this IAChain - taken directly from the IKController component on the parent object.
Applicable on chains	Currently not implemented
Include & Mount as default	Currently not implemented
Scene Preview	Currently not implemented
Preview in Scene view	Currently not implemented
Preview transparency	Currently not implemented
Advanced Settings	Advanced settings for the manipulator.
Default end effector velocity	Movement speed of the manipulator in m/s.
Use staging ring	Toggle to generate a staging ring around the ConstrainedModule to be used in approach recipes.
Reference point	Reference point for the staging ring.
Staging ring radius	Radius of the staging ring in m.
Staging ring offset	Offset of the staging ring from the reference point.
Staging ring rotation	Rotation of the staging ring relative to the reference point.
Manipulator rotation on staging ring	The rotation over the staging ring to align the rotation of the manipulator to, when moving over it.
Staging approach recipes	Recipes used to define how the end effector approaches and departs from target transfer points.
Default approach	The default approach setting to use Closest point on staging ring - Travels accross staging ring to a point closest to the transferpoint Direct approach - directly moves from current position to the transferpoint
Include Approach	Toggle to set an additional approach constraint Via offset - adds an offset position waypoint Direct - directly moves from current position to the transferpoint
Offset	Offset position for the Via offset method.
Include Departure	Toggle to set an additional departure constraint.

Manipulation Points & Routes Processor
Points in Reach	Lists all the ActionCues within reach of this module, and all its contained TransferPoints.
TestStagingArea	Name of the first ActionCue in reach.
ActionCue	Object reference to the first ActionCue in reach.
Points	Lists all contained TransferPoints.
Position#	Name of the first TransferPoint - includes toggle to manually set this point out of reach.
Preview Approach Path	Currently not implemented
DefaultApproach	Lists all Approach Recipe options as defined in the ManipulatorRecipe Processor.
WayPoints	Currently not implemented
Routes	Currently not implemented

How to use in a Robot Body

Drag a Robot body into the scene.
Drag a Manipulator into the scene.
Set the manipulator in the Constrained Module as Manipulator Recipe.
Adjust de the mounting position offset and mounting rotation offset so the manipulator nicely aligns with the end of the robot chain.

5. To use a staging ring, toggle on 'Use Staging Ring'.

6. Adjust the offset and radius of the Staging Ring so the desired path is created.

7. Adjust the rotation of the manipulator on the staging ring so it positions as wanted.

8. Move the robot in range of wanted assets.

9. Adjust the offset to the point to reach out to, to the desired value. (The robothead will move via these points form the staging ring when moved to the desired asset.)