PUMA THETA Parameters

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 $theta_{i}$ 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)