Data Sheet

- void initialize(void)

initialize() function described below.

gpArmComm = new Pro_Arm_Comm_Win()

gpArmComm is a class of Pro_Arm_Comm_Win. Pro_Arm_Comm_Win

includes ID and baud num-related aspects.

gpArmComm->DXL_Set_Init_Param(Port, Baud)

Sets Port Number Baudrate from pointer

gpRobotisArm->AddJoint

double LinkLength

double LinkTwist

double JointOffset

double JointAngle

double MaxAngleInRad

double MinAngleInRad

int MaxAngleValue

int MinAngleValue

double MaxAngleLimitInRad

double MinAngleLimitInRad

unsigned int Dynamixel_ID

input each joint’s DH joint parameters.

gpArmComm->Arm_ID_Setup(gpRobotisArm->GetArmIDList())

from AddJoint rearrange ID List.

gpArmKinematics = new Kinematics(gpRobotisArm)

gpRobotisArm->AddJoint (RobotInfo Class) generates Kinematics Class.

gpArmKinematics->SetMaximumNumberOfIterationsForIK(60)

this fuction calculates the IK’s max number of iterations. In this case 60.