GRAVITY_PARAM_DATA

This structure defines the gravity calibration parameters used for compensating gravitational effects in the robot’s dynamic control model. It includes both mechanical and calibration coefficients.

BYTE#	Field Name	Data Type	Value	Remarks
0	_tClParam	COUNTER_BALANCE_PARAM_DATA		Counterbalance system mechanical parameters
16	_tCrParam	CALIBRATION_PARAM_DATA		Calibration coefficients for gravity compensation model

Total size: 32 bytes

Defined in: DRFS.h

typedef struct _GRAVITY_PARAM_DATA
{
    /* Counterbalance mechanical parameters */
    COUNTER_BALANCE_PARAM_DATA _tClParam;

    /* Calibration coefficients */
    CALIBRATION_PARAM_DATA _tCrParam;

} GRAVITY_PARAM_DATA, *LPGRAVITY_PARAM_DATA;

/* Alias for gravity calibration response */
typedef GRAVITY_PARAM_DATA
    CALIBRATE_GRAVITY_RESPONSE, *LPCALIBRATE_GRAVITY_RESPONSE;