dh_parameter_set Derived Type

type, public :: dh_parameter_set

Describes a set of Denavit-Hartenberg parameters for a single joint.

Contents

Variables

joint_angle link_length link_offset link_twist

Constructor

dh_parameter_set

Components

Type	Visibility	Attributes		Name		Initial
real(kind=real64),	public		::	joint_angle			The joint angle is the required rotation of the previous link's x-axis about the proximal joint's axis to become parallel to the current link's x-axis.
real(kind=real64),	public		::	link_length			The link length is the distance between the proximal and distal joint axes as measured along the link's x-axis.
real(kind=real64),	public		::	link_offset			The link offset is the distance between the previous link's x-axis and the current link's x-axis as measured along the axis of the proximal joint.
real(kind=real64),	public		::	link_twist			The link twist is the required rotation of the proximal joint axis about the link's x-axis to become parallel to the distal joint's axis.

Constructor

public interface dh_parameter_set

private pure function dps_init(length, twist, offset, angle) result(rst)

Constructs a new dh_parameter_set object.

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=real64),	intent(in)			::	length	The link length.
real(kind=real64),	intent(in)			::	twist	The link twist.
real(kind=real64),	intent(in)			::	offset	The link offset.
real(kind=real64),	intent(in)			::	angle	The joint angle.

Return Value type(dh_parameter_set)

The new dh_parameter_set object.