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MechanismCalculateForwardKinematics Method
Calculates forward kinematics for the mechanism. Given the specified mechanism joint values, the resulting TCP (tool0) transform is returned.

Namespace:  ABB.Robotics.RobotStudio.Stations
Assembly:  ABB.Robotics.RobotStudio.Stations (in ABB.Robotics.RobotStudio.Stations.dll) Version: 7.0.8747.636
Syntax
C#
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public Matrix4 CalculateForwardKinematics(
	double[] jointValues,
	out ForwardKinematicsResult insideLimits
)

Parameters

jointValues
Type: SystemDouble
Array of mechanism joint values, for which to calculate forward kinematics.
insideLimits
Type: ABB.Robotics.RobotStudio.StationsForwardKinematicsResult
Out parameter that specifies if the forward kinematics calculation failed or succeded.

Return Value

Type: Matrix4
The transform of the TCP (tool0) if the mechanism were positioned according to the specified joint values.
Remarks
This method is thread-safe as long as no other RobotStudio API calls are made concurrently that may change the model. Exception: Mechanisms with closed kinematic loops such as the IRB360.
Version Information

Supported in: 1.0.0.0
See Also