PUMA THETA Parameters

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Theta of DH for PUMA model

NOTE-Info.svgNOTE
For description of PUMA Denavit Hartenberg parameters please go to: Puma DH
NOTE-Info.svgNOTE
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:

Zero Theta Non zero theta

 

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