ST_DeltaChainDirectKinematicsData – General Information

Overview

Type:

Data structure

Available as of:

V1.0.0.0

Inherits from:

-

Description

Contains the results of the direct kinematics performed on a single chain of a Delta robot structure.

The following figure represents Joint1, Joint2 and Joint3 positions for a chain of a Delta3Ax robot:

The following figure represents the Joint1, Joint2 and Joint3 positions for a chain of a Delta2Ax robot.

Structure Elements

Name

Data type

Description

stJoint1Position

SE_Math.ST_Vector3D

Cartesian position of joint 1 of the chain.

stJoint2Position

SE_Math.ST_Vector3D

Cartesian position of joint 2 of the chain.

stJoint3Position

SE_Math.ST_Vector3D

Cartesian position of joint 3 of the chain.

EIO0000004468.00

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