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MEASURE_FRICTION

This structure defines the configuration parameters for joint friction measurement. It specifies the measurement type, selected joints, start positions, and motion ranges. Used in friction identification or dynamic calibration processes of each robot joint.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iType	unsigned char	0~N	Friction measurement type (e.g., static, dynamic)
1	_iSelect	unsigned char[6]	0 or 1	Joint selection flag 0: excluded 1: included in measurement
7	_fStart	float[6]	[deg]	Starting joint positions
31	_fRange	float[6]	[deg]	Motion range of each joint

Total size: 55 bytes

Defined in: DRFS.h

typedef struct _MEASURE_FRICTION
{
    /* Measure type (0: static, 1: dynamic, etc.) */
    unsigned char _iType;

    /* Selected joints (1: enable, 0: disable) */
    unsigned char _iSelect[NUMBER_OF_JOINT];

    /* Start position per joint [deg] */
    float _fStart[NUMBER_OF_JOINT];

    /* Motion range per joint [deg] */
    float _fRange[NUMBER_OF_JOINT];

} MEASURE_FRICTION, *LPMEASURE_FRICTION;