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INVERSE_KINEMATIC_RESPONSE

This structure provides the calculation result of inverse kinematics, returning both the computed joint angles and the validity status of the solution.

BYTE#

Field Name

Data Type

Value

Remarks

0

_fTargetPos

float[NUMBER_OF_JOINT]

Information on six current joint angles

32

_iStatus

int

0~2

Availability status
0: Normal return
1: Out of operation area
2: Wrist axis singularity

Total size: 28 bytes

Defined in: DRFS.h

typedef struct _INVERSE_KINEMATIC_RESPONSE
{
    /* target pose */
    float _fTargetPos[NUMBER_OF_JOINT];
    /* status */
    int   _iStatus;
} INVERSE_KINEMATIC_RESPONSE, *LPINVERSE_KINEMATIC_RESPONSE;

Note

  • _fTargetPos contains the joint-space solution obtained from the inverse kinematics calculation.

  • _iStatus indicates the validity of the IK solution:
    - 0: Normal solution found
    - 1: Out of operation area
    - 2: Wrist singularity detected