AnglesΒΆ

Array of joint poses. Each pose consists of an array of joint angles of the robot. Additionally the Links parameter must be filled with the robot geometry.

Using the joint angles as input for hand eye calibration will also estimate offset angles of the zero position for each joint. On some robot models inaccurate zero angle positions can introduce significant inaccuracy into the robot geometry and estimating a zero offset can dramatically improve the accuracy of the robot and hand eye calibration.

Note

Use this pose format only when you also want to recalibrate the robot geometry.

Note

When specifying poses as joint angles the resulting offset angles from the Angle result must be fed back into the robot controller or must be integrated into your robot model as static angular offsets on each joint when you perform inverse kinematics on your own. Otherwise the computed Link and PatternPose results are invalid!

Format

Array

An array of arrays with robot joint angles for each pattern observation