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ROBOT_MONITORING_TASK

This structure provides real-time task-space monitoring data of the robot. It contains actual and target task values for tool & flange frames, task errors, IK solution space index, and a 3×3 rotation matrix for orientation representation.

BYTE#	Field Name	Data Type	Value	Remarks
0	_fActualPos	float[2][6]		Position actual value (0: tool, 1: flange)
48	_fActualVel	float[6]		Actual task velocity values.
72	_fActualErr	float[6]		Task-space position/orientation error.
96	_fTargetPos	float[6]		Target position in task-space coordinates.
120	_fTargetVel	float[6]		Target velocity in task-space coordinates.
144	_iSolutionSpace	unsigned char	0 ~ 255	Inverse Kinematics solution space index.
148	_fRotationMatrix	float[3][3]		Rotation matrix (3×3) representing tool orientation.

Total size: 184 bytes

Defined in: DRFS.h

typedef struct _ROBOT_MONITORING_TASK
{
    float         _fActualPos[2][NUMBER_OF_JOINT];  /* Position Actual Value (0: tool, 1: flange) */
    float         _fActualVel[NUMBER_OF_JOINT];     /* Velocity Actual Value */
    float         _fActualErr[NUMBER_OF_JOINT];     /* Task Error */
    float         _fTargetPos[NUMBER_OF_JOINT];     /* Target Position */
    float         _fTargetVel[NUMBER_OF_JOINT];     /* Target Velocity */
    unsigned char _iSolutionSpace;                  /* Solution Space Index */
    float         _fRotationMatrix[3][3];           /* Rotation Matrix (3x3) */
} ROBOT_MONITORING_TASK, *LPROBOT_MONITORING_TASK;