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DH Arm Generator Dialog Box

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Requires: Robotics Module

In the Robot Simulation Model Builder, select a Denavit-Hartenberg (DH) arm model in the Model Library, right-click the model, and select Add to View from the shortcut menu to open this dialog box. This dialog box also displays when you drag a DH arm model from the Model Library to the Model View.

Use this dialog box to generate serial arms from a DH arm model. You can add or remove links and configure the joint type for the arm model.

This dialog box includes the following components:

  • DH Links—Lists the links of the DH arm. Right-click and select Add Link or Remove Link from the shortcut menu to add or remove a link.
  • Properties—Displays the properties of the DH arm. Click a property or its value to modify the property.
  • Model View—Displays the component models in a simulation environment.
  • View Model Options—Allows you to customize the visual and physical views of the simulation.
    • Both Models—Displays both the visual models and physical models.
    • Visual Model—Displays only the visual model.
    • Physical Model—Displays only the physical model.
  • View Options—Allows you to customize your view of the simulation within the 3D picture.
    • View to XY plane—Changes the view to be along the XY axes.
    • View to YZ plane—Changes the view to be along the YZ axes.
    • View to XZ plane—Changes the view to be along the XZ axes.
    • View to Object—Zooms in on a component you select in the Model View.
  • Save DH—Saves the DH arm to a .txt file.
  • Load DH—Loads an existing DH arm from a .txt file.

 

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