Owning Palette: Serial Arm Definition VIs
Requires: Robotics Module
This VI only returns the kinematic parameters and joint IDs of hinge (revolute) joints and slider (prismatic) joints in the serial arm. If the serial arm contains fixed or ball joints, this VI does not return the fixed or ball joints. National Instruments does not recommend using serial arms with ball joints with this VI because you cannot actuate ball joints in LabVIEW.
|robot ID specifies the ID assigned to a simulated robot in the current simulation instance.|
|base ID specifies the ID of the base of a serial robotic arm.|
|end effector ID specifies the ID of the end effector of a serial robotic arm.|
|error in describes error conditions that occur before this node runs. This input provides standard error in functionality.|
|kinematic parameters returns a cluster whose elements define the kinematic properties of the serial robotic arm link.
|joint ID array returns an array of IDs of the hinge (revolute) and slider (prismatic) joints that connect the serial robotic arm links.|
|error out contains error information. This output provides standard error out functionality.|
|joint type returns the type of the link joint. |
Refer to the Puma560 Simulator.lvproj in the labview\examples\robotics\Simulator\Puma560 directory for an example of using the Acquire Kinematics Parameters VI.