Hello!

The Robotics Information Model doesn’t provide means for modeling physical connections between two specific joints, or two axes as the the model prefers to call them. Instead, the model allows modelling physical connections for a group of connected joints implicitly by referencing them with HasComponent references from the Axes Folder of a MotionDevice Object.

BR,

Matti Siponen

As there is no standardized way of modelling physical connections between the joints of a robot, you will have to define how you model these relationships in your application. There are several ways to do it, but I’d recommend choosing a suitable ReferenceType and using that to model the specific relationships between joints in the Axes Folder of a MotionDevice Object. For example, the Robotics Information Model doesn’t define any References between instances of AxisType, which means that you could use either HasComponent or IsConnectedTo ReferenceType to models physical connections between joints.

The specification recommends modelling additional components of a motion device by referencing instances of ComponentType, or its subtypes, representing the additional components with HasComponent References from the AdditionalComponents Folder of a MotionDevice Object. Tools could be modelled as additional components. As ComponentType is abstract, you would either need to use AuxiliaryComponentType defined in the Robotics Information Model or to define your own non-abstract subtype or subtypes of ComponentType for modelling tools. You could then model the connection between an axis and a tool by targeting the Object representing the tool with a HasComponent Reference from the Axis Object representing the axis, although this approach isn’t standardized in the specification.