| DenavitHartenbergParameters Structure |
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 (in ABB.Robotics.RobotStudio.Stations.dll) Version: 7.0.8747.636
SyntaxC#
public struct DenavitHartenbergParameters
The DenavitHartenbergParameters type exposes the following members.
Constructors| Name | Description | |
|---|---|---|
 | DenavitHartenbergParameters |
Initializes a new instance of the DenavitHartenbergParameters struct using specified parameter values.
|
Properties| Name | Description | |
|---|---|---|
 | A |
Length of the common normal. Assuming a revolute joint, this is the radius about previous z.
|
| Alpha |
Angle about common normal, from old z axis to new z axis.
|
| D |
Offset along previous z to the common normal.
|
| Theta |
Angle about previous z, from old x to new x.
|
Methods| Name | Description | |
|---|---|---|
| Equals | (Overrides ValueTypeEquals(Object).) |
| GetHashCode | (Overrides ValueTypeGetHashCode.) |
| GetType | (Inherited from Object.) |
| ToString | (Overrides ValueTypeToString.) |
Operators| Name | Description | |
|---|---|---|
  | Equality | |
| Inequality |
Version InformationSupported in: 1.0.0.0
See Also