RotationalJoint¶

This class represents a 1 DoF rotational joint.

class RotationalJoint¶

Bases: Joint

Class modeling a rotational joint with the standard Denavit-Hartenberg (DH) convention.

Constructor Summary

RotationalJoint(Parameters)¶

Construct a rotational joint.

Parameters:: Parameters ([double], [sym]) – DH parameters of the joint, specified as $\alpha, a, d$ and $\theta$

Property Summary

Parameters¶: Vector collecting the DH parameters of the joint as $\mathrm{Parameters} = \left( \alpha \,\, a \,\, d \,\, \theta \right)^{T} \in \mathbb{R}^{4 \times 1}$ .