SMC_TrafoConfig_ArticulatedRobot_6DOF (STRUCT)
TYPE SMC_TrafoConfig_ArticulatedRobot_6DOF : STRUCT
These parameters describe an articulated 6DOF robot as supported by the kinematik transformations SMC_Trafo_ArticulatedRobot_6DOF and SMC_TrafoF_ArticulatedRobot_6DOF.
InOut:
|
Name |
Type |
Comment |
|
d1 |
LREAL |
Denavit-Hartenberg Parameter d1 [u] |
|
a1 |
LREAL |
Denavit-Hartenberg Parameter a1 [u] |
|
a2 |
LREAL |
Denavit-Hartenberg Parameter a2 [u] |
|
d3 |
LREAL |
Denavit-Hartenberg Parameter d3 [u] |
|
a3 |
LREAL |
Denavit-Hartenberg Parameter a3 [u] |
|
d4 |
LREAL |
Denavit-Hartenberg Parameter d4 [u] |
|
d6 |
LREAL |
Denavit-Hartenberg Parameter d6 [u] |
|
q3_min_deg |
LREAL |
The minimum possible angle of joint 3 in degrees |
|
q3_max_deg |
LREAL |
The maximum possible angle of joint 3 in degrees |
|
q5_min_deg |
LREAL |
The minimum possible angle of joint 5 in degrees |
|
q5_max_deg |
LREAL |
The maximum possible angle of joint 5 in degrees |
