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How to use Mechanism class to read Denavit-Hartemberg parameters

depa91
depa91 ✭
in Developer Tools
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



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