Definition
posj(J1=0, J2=0, J3=0, J4=0, J5=0, J6=0)
Features
This function designates the joint space angle in coordinate values.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
J1 |
float list posj |
0 |
1-axis angle or angle list or posj |
|
J2 |
float |
0 |
2-axis angle |
|
J3 |
float |
0 |
3-axis angle |
|
J4 |
float |
0 |
4-axis angle |
|
J5 |
float |
0 |
5-axis angle |
|
J6 |
float |
0 |
6-axis angle |
Return
Posj
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
Example
Python
q1 = posj() # q1=posj(0,0,0,0,0,0)
q2 = posj(0, 0, 90, 0, 90, 0)
q3 = posj([0, 30, 60, 0, 90, 0]) # q3=posj(0,30,60,0,90,0)