Difference between revisions of "PUMA THETA Parameters"
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== Theta of DH for PUMA model == | == Theta of DH for PUMA model == | ||
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| + | {{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]]'''}} | ||
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DH Theta parameter was added for PUMA, to support Staublie series of robots where {0,0,0,0,0} position is straight up arm. | DH Theta parameter was added for PUMA, to support Staublie series of robots where {0,0,0,0,0} position is straight up arm. | ||
Revision as of 15:12, 29 February 2016
Theta of DH for PUMA model
 | NOTE |
| For description of PUMA Denavit Hartenberg parameters please go to: Puma DH |
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
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