Creating User-defined Forward Kinematics

You can set parameters for the user-defined forward kinematics solver.

  1. Click User Defined Forward Kinematics .
    You are prompted to select a programmable resource.
  2. Select a programmable resource in the tree or work area.

    The Set User Defined Forward Kinematics dialog box is displayed, with the selected mechanism shown in the Mechanism list.

  3. Select Enable User Defined Forward Kin.

    The controls that were disabled in the dialog box are now enabled.

  4. Specify the names for the external DLL and forward kinematic routine in the Library name and Routine name boxes, respectively.
  5. Specify any auxiliary data, if needed. auxiliary data could include device parameters (such as link lengths) that are passed to the specified routine.
  6. Click OK to save the kinematics data.
    Note: You can click Cancel to dismiss the Set User Defined Forward Kinematics dialog box at any time. Any changes made in the dialog box are not saved.