public void InitializeStructure()
{
_dhParam = DHParameterFactory.GetDhParameterForRobot(RobotModels.Kuka_KR270_R2700);
_testRobot = new Robot("testRobi", RobotManufacturer.Kuka, RobotModels.Kuka_KR270_R2700);
_testRobot.SetJoint6ToFlangeTcpTrafo(RobotManufacturer.Kuka);
_inverse = new InverseKinematics();
var rand = new Random(DateTime.Now.Millisecond);
testAnglesDeg = new double[] { 30 * rand.NextDouble(), -80 - 30 * rand.NextDouble(), 30 * rand.NextDouble(), 30 * rand.NextDouble(), 30 * rand.NextDouble(), 30 * rand.NextDouble() };
testAnglesRad = new double[] {
testAnglesDeg[0].DegToRad(),
testAnglesDeg[1].DegToRad(),
testAnglesDeg[2].DegToRad(),
testAnglesDeg[3].DegToRad(),
testAnglesDeg[4].DegToRad(),
testAnglesDeg[5].DegToRad()
};
for (int i = 0; i < testAnglesRad.Length; i++)
{
_testRobot.Joints[i].DhParameter.Theta = testAnglesRad[i];
}
_testRobot.SetJoint6ToFlangeTcpTrafo(RobotManufacturer.Kuka);
}
public Robot(string name, RobotManufacturer robotBrand, RobotModels robotModel)
{
ModelName = name;
Joints = new SortedList <int, Joint>();
var dhParams = DHParameterFactory.GetDhParameterForRobot(robotModel);
for (int i = 0; i < dhParams.Count; i++)
{
Joints.Add(i, new RotationalJoint(0, 360, dhParams[i]));
}
Kinematic = new RobotKinematics(dhParams);
InitializeMember();
Joint6ToFlangeTrafo = RobotBaseDataProvider.GetJoint6ToFlangeTransformation(robotBrand);
}
public void InitializeTestVariables()
{
_dhParam = DHParameterFactory.GetDhParameterForRobot(RobotModels.Kuka_KR270_R2700);
}