View source for PUMA THETA Parameters



== Theta of DH for PUMA model ==

{{Note| For description of PUMA Denavit Hartenberg parameters please go to: '''[[PUMA_robot#Geometric.2C_Denavit-Hartenberg_.28DH.29_parameters_of_the_PUMA_robot| Puma DH]]'''}}

{{Note | No need for user functions (PUMA_SET_THETA/PUMA_GET_THETA), you can use directly '''[[MC-Basic:robot.ThetaOffset | ThetaOffset]]''' property}}

&nbsp;

Theta parameter was added for PUMA kinematics model, to support user-defined zero joint position ( {0,0,0,0,0,0} ) independently of robot actual pose.

Same robot position (joint is {0,0,0,0,0,0}) with different THETA values:

[[File:PUMAZERO.JPG|Zero Theta]] [[File:GRTZERO.JPG|Non zero theta]]

&nbsp;
<pre>double PUMA_GET_THETA(int hndl, int i);
double PUMA_SET_THETA(int hndl,int i, double value);
</pre>

Remember to add in your PROTO.PRO file:
<pre>import_c PUMA_GET_THETA(byval as long, byval as long) as double
import_c PUMA_SET_THETA(byval as long, byval as long,byval as double) as double
</pre>

== Algorithm ==

Basically the <math>theta_i</math> values are added in IK and DK to each of joint angle values.

== Return Value ==

If an error occurs (non-PUMA model or invalid index) both functions return -1

If everything is OK, PUMA_SET_THETA returns 1

== Availability ==

Since version 4.5.15 <!-- [[Category:Mechatronics:AR-series robots]] -->

[[Category:Motion Control]]