Data Sheet

90
(6) vecd CalcIK(Pose3D desiredPose, int *ErrorStatus)
Parameter
Pose3D desiredPose / int * ErrorStatus
Returns
Joint Angle of desiredPose
Description
Returns desired pose of end effector via IK
*ErrorStatus is pointer for error type
1. no error
(ARMSDK_NO_ERROR 0x00)
2. No solution from IK
(ARMSDK_NO_IK_SOLUTION 0x01)
3. no solution from IK, allowable error
(ARMSDK_ACCEPTABLE_ERROR 0x02)
4. joint angles exceed JointData’s set angles
(ARMSDK_OUT_OFF_JOINT_RANGE 0x08)
(7) vecd NextStep(int* ErrorStatus)
Parameter
ErrorStatus
Returns
Angle rad array for next step
Description
Returns next motion’s joint angles
*ErrorStatus is pointer for error type
(8) veci NextStepforHand(void)
Parameter
void
Returns
Angle Value array of Fingers for next step
Description
Returns hand’s next motion position
(9) vecd GetCurrentAngle(void);
Parameter
void
Returns
All Joint Angle(rad)
Description
Returns robot’s current pos(rad) array