PUMA THETA Parameters

Theta of DH for PUMA model

	NOTE
	For description of PUMA Denavit Hartenberg parameters please go to: Puma DH

	NOTE
	No need for user functions (PUMA_SET_THETA/PUMA_GET_THETA), you can use directly ThetaOffset property

 

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:

 

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 $theta_{i}$ 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