COUNTER_BALANCE_PARAM_DATA

This structure defines the counterbalance mechanical parameters used to model the spring-based gravity compensation mechanism in the robot arm. Each field describes a key physical property of the counterbalance system.

BYTE#	Field Name	Data Type	Value	Remarks
0	_fK	float		Spring constant (K) of the counterbalance
4	_fIrod	float		Connecting rod length (Irod)
8	_fR	float		Distance between motor center and connecting rod center (R)
12	_fSi	float		Pre-load length of the spring (Si)

Total size: 16 bytes

Defined in: DRFS.h

typedef struct _COUNTER_BALANCE_PARAM_DATA
{
    /* Spring constant */
    float _fK;

    /* Connecting rod length */
    float _fIrod;

    /* Distance between motor center and connecting rod center */
    float _fR;

    /* Pre-load spring length */
    float _fSi;

} COUNTER_BALANCE_PARAM_DATA, *LPCOUNTER_BALANCE_PARAM_DATA;