Struct SYN_DH_Param

ClassList > SYN_DH_Param

Single joint Denavit-Hartenberg parameter specification.

• #include <syn_kinematics.h>

Public Attributes

Type	Name
q16_t	a
q16_t	alpha
q16_t	d
bool	is_prismatic
q16_t	max_limit
q16_t	min_limit
q16_t	theta

Public Attributes Documentation

variable a

q16_t SYN_DH_Param::a;

Link length along X axis

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variable alpha

q16_t SYN_DH_Param::alpha;

Link twist angle around X axis (radians)

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variable d

q16_t SYN_DH_Param::d;

Link offset along Z axis (prismatic joint variable if is_prismatic)

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variable is_prismatic

bool SYN_DH_Param::is_prismatic;

True if prismatic (linear) joint, false if revolute

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variable max_limit

q16_t SYN_DH_Param::max_limit;

Maximum joint position limit

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variable min_limit

q16_t SYN_DH_Param::min_limit;

Minimum joint position limit

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variable theta

q16_t SYN_DH_Param::theta;

Joint angle around Z axis (revolute joint variable if !is_prismatic)

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The documentation for this class was generated from the following file src/syntropic/motor/syn_kinematics.h