ST_Delta2AxKinematics – General Information

Overview

A set of parameters used by the kinematics of the robot.

Name	Data type	Description
lrBaseRadius	LREAL	Base radius of the robot, that is the distance between the origin and one of the motors.
alrUpperLinkLength	ARRAY [1.. Gc_udiDelta2AxNumberOfJoints] OF LREAL	Lengths of the upper links of the robot.
alrLowerLinkLength	ARRAY [1.. Gc_udiDelta2AxNumberOfJoints] OF LREAL	Lengths of the lower links of the robot.
lrPlateRadius	LREAL	Plate radius of the robot, that is the distance between the TCP and the connection joint of one of the lower links.