Angles

An array of joint angle offsets. This output will only be generated when Angles and Links parameters have been given.

Each element is an offset in radians which has to be added to the zero angle of the joint.

Note

These offset angles 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!

Note

The offset on the first joint is fixed to zero. Because each additional rotation on the first joint simply corresponds to a rotation of the robot origin around its first axis this could be compensated by a PatternPose rotated around the first axis in the “Moving” setup or a Link with an additional rotation around the first axis in the “Fixed” setup. It is therefore not observable and the result Angle[0] is thus always zero.

Format

Array

An array of Number s, one for each robot joint