C、C++:

System Installation Method Configuration installPos

The RealMan robotic arm supports different installation methods. However, the robot's dynamic model parameters and frame directions may vary depending on the installation method. This interface is used to set and read the robot arm's installation method.

Set installation method parametersrm_set_install_pose()

• Method prototype:

int rm_set_install_pose(rm_robot_handle * handle,float x,float y,float z)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
x	Input	Rotation angle, in °.
y	Input	Pitch angle, in °.
z	Input	Azimuth angle, in °.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Set installation angles: rotation angle 30°, pitch angle 60°, and azimuth angle 90°
float x = 30;
float y = 60;
float z = 90;
ret = rm_set_install_pose(robot_handle,x,y,z);

Get installation method parametersrm_get_install_pose()

• Method prototype:

int rm_get_install_pose(rm_robot_handle * handle,float * x,float * y,float * z)

Jump to rm_robot_handle for details of the structure

• Parameter description:

Parameter	Type	Description
handle	Input	Robotic arm handle.
x	Output	Store the rotation angle, in °.
y	Output	Store the pitch angle, in °.
z	Output	Store the azimuth angle, in °.

• Return value:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

//Get installation angles
float fx,fy,fz;
ret = Get_Install_Pose(m_sockhand,&fx,&fy,&fz);