Data Sheet

4.2 Description for Robotis Maniupulator SDK

ⅰ) RobotInfo

When making them anipulator’s build RobotInfo class’s Addjoint generated

instance. AddJoint gets values from D-H Parameter and actuator’s max and min turn

angle in rad and value as well as actuator ID number (min and max turn angles may

not be the same as joint angle limits).

ⅱ) Kinematics

Forward Kinematics(FK), Inverse Kinematics(IK) can be calculated once the

instance for kinematics class is generated. Kinematics class get the instance from

RobotInfo class.

ComputeIK’s factor’s the pose from end effector and joint values, as well as,

initial joint angle and error for IK. The result is joint angles when the returned

error status is not 0 then the IK is not properly solved.

The , , and are calculated as in the

rotation transformation matrix. This is to be taken into consideration when entering

the pose for ComputeIK.