Difference between revisions of "PUMA THETA Parameters"
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== Theta of DH for PUMA model == | == Theta of DH for PUMA model == | ||
| − | + | DH Theta parameter was added for PUMA, to support Staublie series of robots where {0,0,0,0,0} position is straight up arm. | |
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<pre> | <pre> | ||
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double PUMA_GET_THETA(int hndl, int i); | double PUMA_GET_THETA(int hndl, int i); | ||
double PUMA_SET_THETA(int hndl,int i, double value); | double PUMA_SET_THETA(int hndl,int i, double value); | ||
</pre> | </pre> | ||
| − | + | Remember to add in your PROTO.PRO file: | |
<pre> | <pre> | ||
import_c PUMA_GET_THETA(byval as long, byval as long) as double | import_c PUMA_GET_THETA(byval as long, byval as long) as double | ||
Revision as of 05:26, 15 May 2014
Theta of DH for PUMA model
DH Theta parameter was added for PUMA, to support Staublie series of robots where {0,0,0,0,0} position is straight up arm.
double PUMA_GET_THETA(int hndl, int i); double PUMA_SET_THETA(int hndl,int i, double value);
Remember to add in your PROTO.PRO file:
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
Algorithm
Basically the Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://en.wikipedia.org/api/rest_v1/":): {\displaystyle theta_i} values are added in IK and DK to each of joint angle values.
Return Value
In case of an error (not a PUMA model or invalid index) both functions are returning -1
The PUMA_SET_THETA returns 1 if everything is OK.
To Be Done
Make it available as regular property
Availability
from 4.5.15 and above --Miborich 14:13, 1 July 2010 (CEST)