14. Tracks, Master axes and Cartesians¶

▶ 14. Tracks, Master axes and Cartesians — Watch on YouTube

[Music] [Music] in a previous video we talked about in a previous video we talked about in a previous video we talked about having three large Exige you used to having three large Exige you used to having three large Exige you used to move the camera in X Y Z and three small move the camera in X Y Z and three small move the camera in X Y Z and three small axes that you used to use to move the axes that you used to use to move the axes that you used to use to move the target in X Y you see but what we've done now is we've taken but what we've done now is we've taken our robot and we've added it to a track our robot and we've added it to a track our robot and we've added it to a track this track allows us enormous extra this track allows us enormous extra this track allows us enormous extra capability in terms of shooting and is a capability in terms of shooting and is a capability in terms of shooting and is a very valuable asset to add to our very valuable asset to add to our very valuable asset to add to our machine but it brings with it the machine but it brings with it the machine but it brings with it the problem of you now have a fourth axis problem of you now have a fourth axis problem of you now have a fourth axis that creates large movement of the that creates large movement of the that creates large movement of the camera so you need to overcome this camera so you need to overcome this camera so you need to overcome this problem and you need a software solution problem and you need a software solution problem and you need a software solution to be able to decide which of those to be able to decide which of those to be able to decide which of those target tracking axes are not going to be target tracking axes are not going to be target tracking axes are not going to be used or which of them are we overcome used or which of them are we overcome used or which of them are we overcome this problem by designating a master this problem by designating a master this problem by designating a master axis a master axis is an axis that can axis a master axis is an axis that can axis a master axis is an axis that can be a target tracking axis or can be an be a target tracking axis or can be an be a target tracking axis or can be an independent axis that nonetheless moves independent axis that nonetheless moves independent axis that nonetheless moves the camera around in space the master the camera around in space the master the camera around in space the master axis will determine where the camera is axis will determine where the camera is axis will determine where the camera is and the target tracking axis will and the target tracking axis will and the target tracking axis will determine the path in order to best use determine the path in order to best use determine the path in order to best use a machine like this where we now have a machine like this where we now have a machine like this where we now have four possible target tracking axes to four possible target tracking axes to four possible target tracking axes to move the camera selecting the track to move the camera selecting the track to move the camera selecting the track to be a master axis or the arm axis here to be a master axis or the arm axis here to be a master axis or the arm axis here to be a master axis needs to be a switch in be a master axis needs to be a switch in be a master axis needs to be a switch in flare so with some shots we are using flare so with some shots we are using flare so with some shots we are using the arm as a master and the track is the arm as a master and the track is the arm as a master and the track is moved as part of the movement due to the moved as part of the movement due to the moved as part of the movement due to the target tracking calculations or we target tracking calculations or we target tracking calculations or we should be able to switch it so that the should be able to switch it so that the should be able to switch it so that the track is a master and can put the robot track is a master and can put the robot track is a master and can put the robot in place and the arm allows the movement in place and the arm allows the movement in place and the arm allows the movement of the camera in order to do the target of the camera in order to do the target of the camera in order to do the target tracking movement it doesn't matter if tracking movement it doesn't matter if tracking movement it doesn't matter if our master axis can also as in the our master axis can also as in the our master axis can also as in the independent axis do large movements independent axis do large movements independent axis do large movements or small movements in order to best or small movements in order to best or small movements in order to best place the whole machine in order to do place the whole machine in order to do place the whole machine in order to do accurate target tracking the object of accurate target tracking the object of accurate target tracking the object of the exercise is to be able to increase the exercise is to be able to increase the exercise is to be able to increase the envelope of the camera in space so the envelope of the camera in space so the envelope of the camera in space so this option of creating a master axis this option of creating a master axis this option of creating a master axis allows us to do that allows us to do that allows us to do that this aspect of having extra axes one of this aspect of having extra axes one of this aspect of having extra axes one of which is a master and the other three of which is a master and the other three of which is a master and the other three of which our target tracking axis allows us which our target tracking axis allows us which our target tracking axis allows us to move the Machine in different ways to move the Machine in different ways to move the Machine in different ways and to prepare different types of shot here I have my outer arm set as a master here I have my outer arm set as a master axis this is this axis here if I now go axis this is this axis here if I now go axis this is this axis here if I now go into Cartesian view and do the go-to I into Cartesian view and do the go-to I into Cartesian view and do the go-to I have my arm stays black because it is a have my arm stays black because it is a have my arm stays black because it is a master axis my track is actually x-axis master axis my track is actually x-axis master axis my track is actually x-axis with regard to the camera so if I move with regard to the camera so if I move with regard to the camera so if I move my track like this my machine moves back and I can do a my machine moves back and I can do a long pull out as part of my programming and make long comparatively slow moves and make long comparatively slow moves because I'm moving the whole machine in because I'm moving the whole machine in because I'm moving the whole machine in order to have that type of job but then order to have that type of job but then order to have that type of job but then if I am in Cartesian view and I move the if I am in Cartesian view and I move the if I am in Cartesian view and I move the master axis yourself because I am NOT master axis yourself because I am NOT master axis yourself because I am NOT asking the camera to move this machine asking the camera to move this machine asking the camera to move this machine moves its position and keeps the camera moves its position and keeps the camera moves its position and keeps the camera stationary this is useful for lining up stationary this is useful for lining up stationary this is useful for lining up and making fast or slow or complex moves and making fast or slow or complex moves and making fast or slow or complex moves better able to be smoothly run there's better able to be smoothly run there's better able to be smoothly run there's an alternative if I now go to my kinematics file and change to master kinematics file and change to master track now my track is a master axis and track now my track is a master axis and track now my track is a master axis and my arm is a target tracking axis so now my arm is a target tracking axis so now my arm is a target tracking axis so now if I go into Cartesian view I have track if I go into Cartesian view I have track if I go into Cartesian view I have track stays flat my arm is my X when this stays flat my arm is my X when this stays flat my arm is my X when this movement is what I get when I move my movement is what I get when I move my movement is what I get when I move my camera in X which is different from the camera in X which is different from the camera in X which is different from the movement I was getting with the track movement I was getting with the track movement I was getting with the track running again if I move my master axis running again if I move my master axis running again if I move my master axis the camera stays in the same place if we look at the axis setup for each of if we look at the axis setup for each of these axes here the track is a master these axes here the track is a master these axes here the track is a master type the arm is a target tracking type type the arm is a target tracking type type the arm is a target tracking type and that is what is changing when we and that is what is changing when we and that is what is changing when we switch from master track to master this switch from master track to master this switch from master track to master this has been a Mark Roberts motion control has been a Mark Roberts motion control has been a Mark Roberts motion control training video training video training video thank you for watching thank you for watching thank you for watching [Music]