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Acquire Kinematics Parameters VI

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Serial Arm Definition VIs

Requires: Robotics Module

Acquires the kinematic parameters and joint IDs of a serial robotic arm.

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.

Example

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.
twist angle returns the angle, in radians, between the rotation axis of the joint of this link and the rotation axis of the next joint with respect to the link.
length returns the length of the link between the joint of this link and the next joint.
rotation angle returns the angle of rotation, in radians, between this link and the next link along the rotation axis of the joint that connects the links.
offset distance returns the distance from this link to the next link along the axis of the joint that connects the links.
joint type returns the type of the link joint.
0Revolute—Defines the link as having a constant offset distance and a variable rotation angle.
1Prismatic (default)—Defines the link as having a constant rotation angle and a variable offset distance.
joint coordinate offset returns an angle, in radians, to offset the rotation angle of the joint.
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.
0Revolute—Defines the link as having a constant offset distance and a variable rotation angle.
1Prismatic (default)—Defines the link as having a constant rotation angle and a variable offset distance.

Example

Refer to the Puma560 Simulator.lvproj in the labview\examples\robotics\Simulator\Puma560 directory for an example of using the Acquire Kinematics Parameters VI.


 

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