ST_Delta3AxKinematics – General Information

Overview

Type:

Data structure

Available as of:

V1.0.0.0

Inherits from:

-

Description

A set of parameters used by the kinematics of the robot.

Structure Elements

Name

Data type

Description

lrBaseRadius

LREAL

Base radius value for the robot.

lrUpperLinkLength

LREAL

The length of the upper link of the robot.

lrPlateRadius

LREAL

The plate radius for the robot.

alrChainAngles

ARRAY [1... Gc_udiDelta3AxNumberOfJoints] OF LREAL

The angle of each chain with reference to the X-axis of the coordinate system of the robot. The default values are [0, 120, 240] degrees.

Default set of chain angles for a Delta3Ax robot.

EIO0000004468.00

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