Struct DenavitHartenbergParameters
The Denavit-Hartenberg parameters (also called DH parameters) are the four parameters associated with a particular convention for attaching reference frames to the links of a spatial kinematic chain, or robot manipulator.
Namespace: ABB.Robotics.RobotStudio.Stations
Assembly: ABB.Robotics.RobotStudio.Stations.dll
Syntax
public struct DenavitHartenbergParameters
Constructors
DenavitHartenbergParameters(Double, Double, Double, Double)
Initializes a new instance of the DenavitHartenbergParameters struct using specified parameter values.
Declaration
public DenavitHartenbergParameters(double d, double theta, double a, double alpha)
Parameters
Type | Name | Description |
---|---|---|
Double | d | Offset along previous z to the common normal. |
Double | theta | Angle about previous z, from old x to new x. |
Double | a | Length of the common normal. Assuming a revolute joint, this is the radius about previous z. |
Double | alpha | Angle about common normal, from old z axis to new z axis. |
Properties
A
Length of the common normal. Assuming a revolute joint, this is the radius about previous z.
Declaration
public double A { get; set; }
Property Value
Type | Description |
---|---|
Double |
Remarks
Also kown as Length and r.
Alpha
Angle about common normal, from old z axis to new z axis.
Declaration
public double Alpha { get; set; }
Property Value
Type | Description |
---|---|
Double |
Remarks
Also known as Twist.
D
Offset along previous z to the common normal.
Declaration
public double D { get; set; }
Property Value
Type | Description |
---|---|
Double |
Remarks
Also known as Offset.
Theta
Angle about previous z, from old x to new x.
Declaration
public double Theta { get; set; }
Property Value
Type | Description |
---|---|
Double |
Remarks
Also known as Rotation.
Methods
Equals(Object)
Declaration
public override bool Equals(object obj)
Parameters
Type | Name | Description |
---|---|---|
Object | obj |
Returns
Type | Description |
---|---|
Boolean |
Overrides
GetHashCode()
Declaration
public override int GetHashCode()
Returns
Type | Description |
---|---|
Int32 |
Overrides
ToString()
Declaration
public override string ToString()
Returns
Type | Description |
---|---|
String |
Overrides
Operators
Equality(DenavitHartenbergParameters, DenavitHartenbergParameters)
Declaration
public static bool operator ==(DenavitHartenbergParameters parameters1, DenavitHartenbergParameters parameters2)
Parameters
Type | Name | Description |
---|---|---|
DenavitHartenbergParameters | parameters1 | |
DenavitHartenbergParameters | parameters2 |
Returns
Type | Description |
---|---|
Boolean |
Inequality(DenavitHartenbergParameters, DenavitHartenbergParameters)
Declaration
public static bool operator !=(DenavitHartenbergParameters parameters1, DenavitHartenbergParameters parameters2)
Parameters
Type | Name | Description |
---|---|---|
DenavitHartenbergParameters | parameters1 | |
DenavitHartenbergParameters | parameters2 |
Returns
Type | Description |
---|---|
Boolean |