Difference between revisions of "PUMA THETA Parameters"
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[[Category:Mechatronics:AR-series robots]] | [[Category:Mechatronics:AR-series robots]] | ||
[[Category:Axystems:Motion Control]] | [[Category:Axystems:Motion Control]] | ||
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Revision as of 05:27, 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 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
Since version 4.5.15