Structures DHParameter - ThorstenBrach/SRCI GitHub Wiki

Alpha

ARRAY [0..6] OF REAL

-

DH parameter α for each joint – 0 if not supported

A

ARRAY [0..6] OF REAL

-

DH parameter A for each joint – 0 if not supported

D

ARRAY [0..6] OF REAL

-

DH parameter D for each joint – 0 if not supported

Theta

ARRAY [0..6] OF REAL

-

DH parameter Theta for each joint – 0 if not supported

PositiveJointDirection

ARRAY [0..6] OF BOOL

-

Positive joint direction of each joint. TRUE when positive joint direction points to the right. See also Figure 6-16.

JointZeroPosition

ARRAY [0..6] OF REAL

-

Offset of zero position of joint to zero position suggested by Figure 6-17.