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.
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
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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
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D
Offset along previous z to the common normal.
Declaration
public double D { readonly get; set; }
Property Value
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Theta
Angle about previous z, from old x to new x.
Declaration
public double Theta { readonly get; set; }
Property Value
Methods
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Equals(DenavitHartenbergParameters)
Declaration
public bool Equals(DenavitHartenbergParameters other)
Parameters
Returns
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Equals(object)
Declaration
public override bool Equals(object obj)
Parameters
| Type |
Name |
Description |
| object |
obj |
|
Returns
Overrides
System.ValueType.Equals(object)
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GetHashCode()
Declaration
public override int GetHashCode()
Returns
Overrides
System.ValueType.GetHashCode()
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ToString()
Declaration
public override string ToString()
Returns
Overrides
System.ValueType.ToString()
Operators
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operator ==(DenavitHartenbergParameters, DenavitHartenbergParameters)
Declaration
public static bool operator ==(DenavitHartenbergParameters parameters1, DenavitHartenbergParameters parameters2)
Parameters
Returns
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operator !=(DenavitHartenbergParameters, DenavitHartenbergParameters)
Declaration
public static bool operator !=(DenavitHartenbergParameters parameters1, DenavitHartenbergParameters parameters2)
Parameters
Returns