NRC_RobotDHConfig
Robot DH parameter configuration
Attributes
| Type | Name | Notes |
|---|---|---|
| double | L1 | L1 length |
| double | L2 | L2 length |
| double | L3 | L3 length |
| double | L4 | L4 length |
| double | L5 | L5 length |
| double | L6 | L6 length |
| double | L7 | L7 length |
| double | theta | Axis 5 direction, only valid for 6-axis robots, parameter options: 0, 90 |
| double | CoupleCoe12 | 1/2 coupling ratio |
| double | CoupleCoe23 | 2/3 coupling ratio |
| double | CoupleCoe32 | 3/2 coupling ratio |
| double | CoupleCoe34 | 3/4 coupling ratio |
| double | CoupleCoe45 | 4/5 coupling ratio |
| double | CoupleCoe46 | 4/6 coupling ratio |
| double | CoupleCoe56 | 5/6 coupling ratio |