
How to use Mechanism class to read Denavit-Hartemberg parameters

depa91
✭
I need to get the Denavit-Hartemberg (DH) representation of an IRB 2600 robot.
I set up a Robot Studio environment with the robot model and related controller.
According to this post https://forums.robotstudio.com/discussion/11026/robot-studio-and-denavit-hartenberg-parameters it should be possible to get the DH representation by using the Mechanism class (C# language I assume).
Therefore, I installed the RobotStudio SDK and I set up a Visual Studio environment following https://developercenter.robotstudio.com/api/robotstudio/index.html
Does anyone know how to instantiate a Mechanism object? I cannot find any example or documentation.
Or alternatively, how can I get the DH parameters of a robot instantiated in the Robot Studio environment?
I've also tried to read the PIM.xml file but I cannot find any sections related to the DH parameters.
Thank you
I set up a Robot Studio environment with the robot model and related controller.
According to this post https://forums.robotstudio.com/discussion/11026/robot-studio-and-denavit-hartenberg-parameters it should be possible to get the DH representation by using the Mechanism class (C# language I assume).
Therefore, I installed the RobotStudio SDK and I set up a Visual Studio environment following https://developercenter.robotstudio.com/api/robotstudio/index.html
Does anyone know how to instantiate a Mechanism object? I cannot find any example or documentation.
Or alternatively, how can I get the DH parameters of a robot instantiated in the Robot Studio environment?
I've also tried to read the PIM.xml file but I cannot find any sections related to the DH parameters.
Thank you
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