ROBOT_LINK_INFO

This structure defines the Denavit–Hartenberg (DH) parameters and installation properties for each of the six robot links. It describes both the geometric and orientation configuration of the robot, which are essential for forward/inverse kinematics and mechanical calibration.

BYTE#	Field Name	Data Type	Value	Remarks
0	d[6]	float[6]		Link offset distance along Z-axis (m)
24	a[6]	float[6]		Link length along X-axis (m)
48	alpha[6]	float[6]		Twist angle between consecutive Z-axes (rad)
72	theta[6]	float[6]		Joint reference angle (mechanical reference) (rad)
96	offset[6]	float[6]		Homing offset per joint (rad)
120	gradient	float		Base installation gradient angle (deg)
124	rotation	float		Base installation rotation angle (deg)

Total size: 128 bytes

Defined in: DRFS.h

typedef struct _ROBOT_LINK_INFO
{
    float d[6];       // meter
    float a[6];       // meter
    float alpha[6];   // rad
    float theta[6];   // rad (mechanical reference)
    float offset[6];  // rad (homingOffset)
    float gradient;   // base install gradient
    float rotation;   // base install rotation
} ROBOT_LINK_INFO, *LPROBOT_LINK_INFO;