Python:

Robotic Arm DH Parameter Structure rm_dh_t

Properties

Property	Type	Description
d	List[float]	unit: m
a	List[float]	unit: m
alpha	List[float]	unit: °
offset	List[float]	unit: °

Constructor

__init__(self, d: list[float] = None, a: list[float] = None, alpha: list[float] = None, offset: list[float] = None)

Parameter description:

Parameter	Type	Description
d	List[float]	unit: m
a	List[float]	unit: m
alpha	List[float]	unit: °
offset	List[float]	unit: °

Member Function

rm_dh_t.to_dict(self, dof: int, recurse: bool = True) -> dict[str, list[float]]

Converts the rm_dh_t object to a dictionary. The dof parameter specifies how many DH array elements to export and should be filled according to the specific model; for a standard six-axis example, use dh.to_dict(6).

Parameter description:

Parameter	Type	Description
d	List[float]	unit: m
a	List[float]	unit: m
alpha	List[float]	unit: °
offset	List[float]	unit: °