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

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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

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A

Length of the common normal. Assuming a revolute joint, this is the radius about previous z.

Declaration
public double A { readonly get; set; }
Property Value
Type Description
double
Remarks

Also kown as Length and r.

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Alpha

Angle about common normal, from old z axis to new z axis.

Declaration
public double Alpha { readonly get; set; }
Property Value
Type Description
double
Remarks

Also known as Twist.

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D

Offset along previous z to the common normal.

Declaration
public double D { readonly get; set; }
Property Value
Type Description
double
Remarks

Also known as Offset.

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Theta

Angle about previous z, from old x to new x.

Declaration
public double Theta { readonly get; set; }
Property Value
Type Description
double
Remarks

Also known as Rotation.

Methods

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Equals(object)

Declaration
public override bool Equals(object obj)
Parameters
Type Name Description
object obj
Returns
Type Description
bool
Overrides
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GetHashCode()

Declaration
public override int GetHashCode()
Returns
Type Description
int
Overrides
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ToString()

Declaration
public override string ToString()
Returns
Type Description
string
Overrides

Operators

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operator ==(DenavitHartenbergParameters, DenavitHartenbergParameters)

Declaration
public static bool operator ==(DenavitHartenbergParameters parameters1, DenavitHartenbergParameters parameters2)
Parameters
Type Name Description
DenavitHartenbergParameters parameters1
DenavitHartenbergParameters parameters2
Returns
Type Description
bool
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operator !=(DenavitHartenbergParameters, DenavitHartenbergParameters)

Declaration
public static bool operator !=(DenavitHartenbergParameters parameters1, DenavitHartenbergParameters parameters2)
Parameters
Type Name Description
DenavitHartenbergParameters parameters1
DenavitHartenbergParameters parameters2
Returns
Type Description
bool