Struct SYN_Kinematics_6DOFConfig

ClassList > SYN_Kinematics_6DOFConfig

Configuration parameters for 6-DOF Articulated Arm with Spherical Wrist.

• #include <syn_kinematics.h>

Public Attributes

Type	Name
q16_t	a1
q16_t	a2
q16_t	d1
q16_t	d4
q16_t	d6

Public Attributes Documentation

variable a1

q16_t SYN_Kinematics_6DOFConfig::a1;

Shoulder offset along X axis

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variable a2

q16_t SYN_Kinematics_6DOFConfig::a2;

Upper arm length (shoulder to elbow)

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variable d1

q16_t SYN_Kinematics_6DOFConfig::d1;

Base height (Z offset from base to shoulder)

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variable d4

q16_t SYN_Kinematics_6DOFConfig::d4;

Forearm length (elbow to wrist center)

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variable d6

q16_t SYN_Kinematics_6DOFConfig::d6;

Tool flange offset (wrist center to tool tip)

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