2
The file $MACHINE.DAT (continued)
77 of 91
Maschinendaten 12.0400 en
2.1.160 $DH_4
Denavit--Hartenberg parameters
Data type
real
min
Value
----
Unit
----
Value
max ----
Assignment
----
Length A
DHART_A
Length D
DHART_D
Angle
a
DHART_ALPHA
Denavit--Hartenberg parameters a, d and
a
for frame between axis 4 and 5, or 5 and 6.
$DH_4.D is always 0 and two consecutive wrist axes must not be “quasi--parallel”, i.e. |
a
|
must not be less than 10 degrees.
Caution: The initial system X3 in axis 4 is defined by $TX3P3. Only the Z axis is defined by
X3. The position of the X axis can be “freely” selected, thus giving rise to a number of
configuration options, each with a different zero position of the wrist axes.
2.1.161 $DH_5
Denavit--Hartenberg parameters
Data type
----
min
Value
----
Unit
----
Value
max ----
Assignment
----
Length A
DHART_A
Length D
DHART_D
Angle
a
DHART_ALPHA
Denavit--Hartenberg parameters a, d and
a
for frame between axis 4 and 5, or 5 and 6.
$DH_4.D is always 0 and two consecutive wrist axes must not be “quasi--parallel”, i.e. |
a
|
must not be less than 10 degrees.
Caution: The initial system X3 in axis 4 is defined by $TX3P3. Only the Z axis is defined by
X3. The position of the X axis can be “freely” selected, thus giving rise to a number of
configuration options, each with a different zero position of the wrist axes.
