Defines the DH coordinate system for the specified link. The axes are normalized and the axis is selected along the common normal of the two joint axes. For intersecting axes,
| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=real64), | intent(in) | :: | xim1(3) |
The x-axis of the previous link. |
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| real(kind=real64), | intent(in) | :: | zim1(3) |
The z-axis of the previous link. This is also the axis of the proximal joint of the current link. |
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| real(kind=real64), | intent(in) | :: | zi(3) |
The axis of the distal joint of the current link. |
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| real(kind=real64), | intent(in) | :: | rim1(3) |
The location of the proximal joint's center or home position. |
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| real(kind=real64), | intent(in) | :: | ri(3) |
The location of the distal joint's center or home position. |
The resulting coordinate system.
Defines a new coordinate_system object. It is the callers responsibility to ensure that the supplied vectors are orthogonal to one another.
| Type | Intent | Optional | Attributes | Name | ||
|---|---|---|---|---|---|---|
| real(kind=real64), | intent(in) | :: | i(3) |
The x-axis unit vector. |
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| real(kind=real64), | intent(in) | :: | j(3) |
The y-axis unit vector. |
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| real(kind=real64), | intent(in) | :: | k(3) |
The x-axis unit vector. |
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| real(kind=real64), | intent(in), | optional | :: | o(3) |
The location of the coordinate system within a reference coordinate system. If not supplied, a value of (0, 0, 0) will be used. |
The new coordinate_system object.