ST_Delta2AxKinematicsResult – General Information

Overview

Contains the results of the kinematics performed on a Delta2Ax robot structure.

Name	Data type	Description
alrJointPositions	ARRAY [1..Gc_udiDelta2AxNumberOfJoints] OF LREAL	Joint positions used to evaluate the solution.
astChainsData	ARRAY [1..Gc_udiDelta2AxNumberOfJoints] OF ST_DeltaChainDirectKinematicsData	Set of intermediate positions for each chain. For more information, refer to ST_DeltaChainDirectKinematicsData.
stTCPPosition	SE_Math.ST_Vector3D	Position of the TCP.
stTCPOrientation	SE_Math.ST_Vector3D	Orientation of the TCP.
xIsResultValid	BOOL	TRUE if the result is valid, FALSE otherwise.