opCoordinatesType Struct Reference
#include <ArmUtil.h>
Detailed Description
A structure containing the operational coordinates of the robotic arm.r, z and beta are the values in the cylinderical coordinate of the end factor. alpha, gamma and gripperAngle describes the orientation.
Public Attributes | |
| double | r |
| the horizontal displacement of end factor from origin in mm. | |
| double | z |
| the vertical displacement of the endfactor from origin in mm. | |
| double | alpha |
| the sum of joint angles 1, 2 and 3 in degree. | |
| double | beta |
| the angle corresponding to joint 0 in degree. | |
| double | gamma |
| the angle corresponding to joint 4 (wrist angle) in degree. | |
| double | gripperAngle |
| the angle corresponding to joint 5 in degree. | |
Member Data Documentation
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the horizontal displacement of end factor from origin in mm.
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the vertical displacement of the endfactor from origin in mm.
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the sum of joint angles 1, 2 and 3 in degree.
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the angle corresponding to joint 0 in degree.
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the angle corresponding to joint 4 (wrist angle) in degree.
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the angle corresponding to joint 5 in degree.
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The documentation for this struct was generated from the following file:
Generated on Tue Jan 10 17:29:20 2006 for Stanford AI Robot (STAIR) by
1.2.17