ROBOT_MONITORING_WORLD

This structure provides real-time monitoring data of the robot in the world coordinate system. It includes world-to-base transformation, task-space position/velocity, external force/torque, and orientation matrix.

BYTE#	Field Name	Data Type	Value	Remarks
0	_fActualW2B	float[6]		World-to-Base transformation vector (X, Y, Z, Rx, Ry, Rz).
24	_fActualPos	float[2][6]		Position actual value (0: tool frame, 1: flange frame).
72	_fActualVel	float[6]		Actual velocity in the world coordinate system.
96	_fActualETT	float[6]		External task force/torque (Fx, Fy, Fz, Tx, Ty, Tz).
120	_fTargetPos	float[6]		Target task-space position in world coordinates.
144	_fTargetVel	float[6]		Target task-space velocity in world coordinates.
168	_fRotationMatrix	float[3][3]		3x3 rotation matrix representing tool orientation relative to world frame.

Total size: 204 bytes

Defined in: DRFS.h

typedef struct _ROBOT_MONITORING_WORLD
{
    float _fActualW2B[NUMBER_OF_JOINT];       /* World to Base Relation */
    float _fActualPos[2][NUMBER_OF_JOINT];    /* Position Actual Value (0:tool, 1:flange) */
    float _fActualVel[NUMBER_OF_JOINT];       /* Velocity Actual Value */
    float _fActualETT[NUMBER_OF_JOINT];       /* External Task Force/Torque */
    float _fTargetPos[NUMBER_OF_JOINT];       /* Target Position */
    float _fTargetVel[NUMBER_OF_JOINT];       /* Target Velocity */
    float _fRotationMatrix[3][3];             /* Rotation Matrix */
} ROBOT_MONITORING_WORLD, *LPROBOT_MONITORING_WORLD;