Actin  Version 5.5.5
Software for Robotics Simulation and Control
Link Kinematics

Using the Link Kinematics Plugin

The Link Kinematics Plugin enables the user to change the geometeric and non-geometeric parameters of a link. The geometric parameters of a link include the traditional Denavit-Hartenberg (DH) parameters as well as a precursor transformation that is unique to Energid's kinematics representation. The non-geometric parameters include the joint direction and the joint offset. The plugin also displays the joint type (rotational or prismatic) and the DH representation.

The kinematics parameters for a manipulator selected in the plugin is shown in the link kinematics table. The plugin has two active buttons: 'Reset to Default' and 'Apply'. The 'Reset to Default' is used to reset the kinematic parameters to the values when the model was loaded into Actin Viewer. Whenever a parameter is changed in the link kinematics table, the 'Apply' button has to be pressed to apply the values to the model, and refresh the visualization in Actin Viewer.

linkKinematicsPlugin.png
The link kinematics plugin displays the kinematic parameters of a manipulator and enables the user to edit them.