# How to use Mechanism class to read Denavit-Hartemberg parameters

**URL:** <https://tech-community.robotics.abb.com/t/how-to-use-mechanism-class-to-read-denavit-hartemberg-parameters/10622>\
**Category:** Developer Tools\
**Tags:** denavit-hartemberg, c, mechanism\
**Created:** [March 8, 2022, 9:20am UTC](https://tech-community.robotics.abb.com/t/how-to-use-mechanism-class-to-read-denavit-hartemberg-parameters/10622 "2022-03-08T09:20:13Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![depa91](https://avatars.discourse-cdn.com/v4/letter/d/858c86/32.png) [@depa91](https://tech-community.robotics.abb.com/u/depa91)\
**Post date:** [March 8, 2022, 9:20am UTC](https://tech-community.robotics.abb.com/t/how-to-use-mechanism-class-to-read-denavit-hartemberg-parameters/10622/1 "2022-03-08T09:20:13Z")

</div>

I need to get the Denavit-Hartemberg (DH) representation of an IRB 2600 robot.  
I set up a Robot Studio environment with the robot model and related controller.

According to this post [https://forums.robotstudio.com/discussion/11026/robot-studio-and-denavit-hartenberg-parameters](https://forums.robotstudio.com/discussion/11026/robot-studio-and-denavit-hartenberg-parameters) it should be possible to get the DH representation by using the Mechanism class (C# language I assume).

Therefore, I installed the RobotStudio SDK and I set up a Visual Studio environment following [https://developercenter.robotstudio.com/api/robotstudio/index.html](https://developercenter.robotstudio.com/api/robotstudio/index.html)

Does anyone know how to instantiate a Mechanism object? I cannot find any example or documentation.  
Or alternatively, how can I get the DH parameters of a robot instantiated in the Robot Studio environment?

I’ve also tried to read the PIM.xml file but I cannot find any sections related to the DH parameters.

Thank you