Class RobotParam

Class Documentation

class RobotParam

struct to keep parameters for a robot.

Public Functions

inline RobotParam()

Constructor to initialize an RobotParam object with default parameters.

Public Members

TCHAR robotName[constants::KinematicsDefinition::ROBOT_NAME_MAX_LENGTH]

Name of the robot.

int robotId

This ID is used to identify the robot in the kinematics engine. The ID should be unique among all robots in the engine.

constants::RobotModel robotType

Type of the robot; defined by RobotModel.

int numJoints

the number of the joints the robot have.

coordinate::CartesianPose baseJointCoordinate

base joint coordinate of the robot.

Remark

This coordinate represents the position and orientation of the robot’s base joint, which is typically the first joint in the kinematic chain.

LinkParam baseLinkParam

base link parameters of the robot.

Remark

This parameter defines the characteristics of the base link, such as its name, origin, and inertia.

JointParam jointParams[constants::MAX_NUMBER_OF_JOINT]

joint parameters of the robot.

Remark

This array holds the parameters for each joint in the robot’s kinematic chain. Each joint parameter includes information such as the joint’s name, type, axis, origin, limits, and velocity/acceleration constraints.

LinkParam linkParams[constants::MAX_NUMBER_OF_JOINT]

link parameters of the robot.

Remark

This array holds the parameters for each link in the robot’s kinematic chain. Each link parameter includes information such as the link’s name, origin, and inertia.

coordinate::CartesianPose flangeJointCoordinate

flange joint coordinate of the robot.

Remark

This coordinate represents the position and orientation of the robot’s end effector or flange joint.

ToolRange toolRange

global tool limit of the robot.

Remark

This range is used to limit the tool’s motion within a defined workspace. It is typically defined by the robot’s mechanical limits and safety requirements.

ToolRange toolSingularRange

tool limit of the robot that only evaluate in a continuous path motion for avoiding singular points.

Remark

This range is used to avoid singularities during continuous path (CP) motion.

coordinate::CartesianPose workCoordinate

work coordinate of the robot.

Remark

This coordinate is used to define the robot’s workspace and is typically aligned with the robot’s base or a specific workpiece. The work coordinate is defined by its origin and orientation in Cartesian space.

coordinate::CartesianPose toolCoordinate

tool coordinate of the robot.

Remark

This coordinate is used to define the position and orientation of the tool attached to the robot’s end effector. The tool coordinate is defined by its origin and orientation in Cartesian space, relative to the robot’s base or work coordinate.

LinkParam toolLinkParam

tool link parameters of the robot.

Remark

This parameter defines the characteristics of the tool link, such as its name, origin, and inertia. The tool link is the last link in the robot’s kinematic chain, where the end effector or tool is attached.