Data Sheet

73
6. Reference
6.1 ARMSDK_Definitions
(1) Pose3D
Data Fields
double x, y, z
double Roll, Pitch, Yaw
Description
Position(x,y,z) and Orientation(Roll, Pitch, Yaw) elements
(2) timeprofile
Data Fields
double ta, tc, td, totaltime
double a0[3], a1[3], a2[3]
double distance, distance1
int Method
Description
Trapezoidal Velocity Profile’s elements
distance1 only used in circular trajectory.
(3) MotionPose
Data Fields
vecd StartPose, EndPose
Pose3D StartPose3D, ViaPose3D, EndPose3D
Position3D CenterPosition
int Method
Description
Declaration of manipulator step’s StartPose, EndPose and
trajectory method
ViaPose and CenterPosition for circular trajectory