A 29 Remote code

AllApps 284
AltLeft
57

AltRight
58

Apostrophe
75

AppSwitch

187

Assist
219

At 77
AvrInput

182

AvrPower

181

B 30
Back 4
Backslash 73
Bookmark

174

Break
121

BrightnessDown
220

BrightnessUp
221
Button1
188

Button10
197

Button11
198

Button12
199

Button13
200

Button14
201

Button15
202

Button16
203

Button2
189

Button3
190

Button4
191

Button5
192

Button6
193

Button7
194

Button8
195

Button9
196

ButtonA

96
ButtonB

97

ButtonC

98

ButtonL1

102

ButtonL2

104

ButtonMode

110

ButtonR1

103
ButtonR2

105

ButtonSelect

109

ButtonStart
108

ButtonThumbl

106

ButtonThumbr

107

ButtonX

99

ButtonY

100
ButtonZ

101

C 31
Calculator
210

Calendar
208

Call 5
Camera
27

CapsLock
115

Captions

175

ChannelDown

167

ChannelUp

166

Clear 28
Comma 55
Contacts

207

Copy 278
CtrlLeft
113
CtrlRight
114

Cut 277
D 32
Del
67

DemoApp1 301
DemoApp2 302
DemoApp3 303
DemoApp4 304
DpadCenter

23

DpadDown

20

DpadDownLeft
269

DpadDownRight
271

DpadLeft

21

DpadRight

22

DpadUp

19

DpadUpLeft 268
DpadUpRight 270
Dvr

173

E 33
Eisu
212

Endcall
6

Enter 66
Envelope
65

Equals 70
Escape
111

Explorer
64

F 34
F1 131
F10 140
F11 141
F12 142
F2 132
F3 133
F4 134
F5 135
F6 136
F7 137
F8 138
F9 139
FeaturedApp1 297
FeaturedApp2 298
FeaturedApp3 299
FeaturedApp4 300
Focus
80
Forward
125

ForwardDel
112

Function
119

G 35
Grave
68

Guide
172

H 36
Headsethook
79

Help 259
Henkan
214

Home

I 37
Info

165

Insert
124

J 38
K 39
K11 227
K12 228
Kana
218
KatakanaHiraga
na 215

KeyboardBacklig
htDown 305

KeyboardBacklig
htToggle 307

KeyboardBacklig
htUp 306

L 40
LanguageSwitch

204

LastChannel 229
LeftBracket 71
M 41
Macro1 313
Macro2 314
Macro3 315
Macro4 316
MannerMode

205

MediaAudioTrac
k 222

MediaClose
128

MediaEject
129

MediaFastForwa
rd 90

MediaNext
87
MediaPause
127

MediaPlay
126

MediaPlayPause
85

MediaPrevious
88

MediaRecord
130

MediaRewind
89

MediaSkipBackw
ard 273

MediaSkipForwa
rd 272

MediaStepBack
ward 275

MediaStepForwa
rd 274

MediaStop
86

MediaTopMenu
226

Menu
82

MetaLeft
117

MetaRight
118

Minus 69
MoveEnd

123

MoveHome

122
Muhenkan
213

Music

209

Mute
91

N 42
NavigateIn 262
NavigateNext 261
NavigateOut 263
NavigatePreviou
s 260

Notification
83

Num 78
Num0 7
Num1 8
Num2 9
Num3 10
Num4 11
Num5 12
Num6 13
Num7 14
Num8 15
Num9 16
NumLock

143

Numpad0
144

Numpad1
145

Numpad2
146

Numpad3
147
Numpad4
148

Numpad5
149

Numpad6
150

Numpad7
151

Numpad8
152

Numpad9
153

NumpadAdd
157

NumpadComma
159

NumpadDivide
154

NumpadDot
158

NumpadEnter
160

NumpadEquals
161

NumpadLeftPare
n 162

NumpadMultiply
155

NumpadRightPar
en 163

NumpadSubtract
156

O 43
P 44
PageDown
93
PageUp
92

Pairing 225
Paste 279
Period 56
Pictsymbols

94

Plus 81
Pound 18
Power
26

ProfileSwitch 288
ProgBlue

186

ProgGreen

184

ProgRed

183

ProgYellow

185

Q 45
R 46
RecentApps 312
Refresh 285
RightBracket 72
Ro
217
S 47
ScrollLock
116

Search
84

Semicolon 74
Settings
176

ShiftLeft
59

ShiftRight
60

Slash 76
Sleep 223
SoftLeft 1
SoftRight 2
SoftSleep 276
Space
62

Star 17
StbInput

180

StbPower

179

Stem1 265
Stem2 266
Stem3 267
StemPrimary 264
StylusButtonPri
mary 308

StylusButtonSec
ondary 309

StylusButtonTail
311
StylusButtonTert
iary 310

SwitchCharset

95

Sym
63

Sysrq
120

SystemNavigatio
nDown 281

SystemNavigatio
nLeft 282

SystemNavigatio
nRight 283

SystemNavigatio
nUp 280

T 48
Tab 61
ThreeDMode

206

ThumbsDown 287
ThumbsUp 286
Tv
170

TvAntennaCable
242

TvAudioDescripti
on 252

TvAudioDescripti
onMixDown 254
TvAudioDescripti
onMixUp 253

TvContentsMenu
256

TvDataService 230
TvInput

178

TvInputCompon
ent1 249

TvInputCompon
ent2 250

TvInputComposit
e1 247

TvInputComposit
e2 248

TvInputHdmi1
243

TvInputHdmi2
244

TvInputHdmi3
245

TvInputHdmi4
246

TvInputVga1 251
TvMediaContext
Menu 257

TvNetwork 241
TvNumberEntry
234
TvPower

177

TvRadioService
232

TvSatellite 237
TvSatelliteBs 238
TvSatelliteCs 239
TvSatelliteServic
e 240

TvTeletext 233
TvTerrestrialAna
log 235

TvTerrestrialDigi
tal 236

TvTimerProgram
ming 258

TvZoomMode 255
U 49
Unknown
0

V 50
VideoApp1 289
VideoApp2 290
VideoApp3 291
VideoApp4 292
VideoApp5 293
VideoApp6 294
VideoApp7 295
VideoApp8 296
VoiceAssist 231
VolumeDown
25

VolumeMute 164
VolumeUp
24

W 51
Wakeup 224
Window

171

X 52
Y 53
Yen
216

Z 54
ZenkakuHankak
u 211

ZoomIn
168

ZoomOut
169
 Key code constant: 'A' key.

Key code constant: Left Alt modifier

key.
Key code constant: Right Alt modifier
key.
Key code constant: ''' (apostrophe)
key.

Key code constant: App switch key.

Should bring up the application
switcher dialog.

Key code constant: Assist key.

Launches the global assist activity.

Key code constant: '@' key.

Key code constant: A/V Receiver input

key. On TV remotes, switches the
input mode on an external A/V
Receiver.

Key code constant: A/V Receiver

power key. On TV remotes, toggles
the power on an external A/V
Receiver.

Key code constant: 'B' key.

Key code constant: Back key.
Key code constant: '' key.

Key code constant: Bookmark key. On

some TV remotes, bookmarks content
or web pages.

Key code constant: Break / Pause key.

Key code constant: Brightness Down

key. Adjusts the screen brightness
down.

Key code constant: Brightness Up key.

Adjusts the screen brightness up.
Key code constant: Generic Game Pad
Button #1.
Key code constant: Generic Game Pad
Button #10.
Key code constant: Generic Game Pad
Button #11.
Key code constant: Generic Game Pad
Button #12.
Key code constant: Generic Game Pad
Button #13.
Key code constant: Generic Game Pad
Button #14.
Key code constant: Generic Game Pad
Button #15.
Key code constant: Generic Game Pad
Button #16.
Key code constant: Generic Game Pad
Button #2.
Key code constant: Generic Game Pad
Button #3.
Key code constant: Generic Game Pad
Button #4.
Key code constant: Generic Game Pad
Button #5.
Key code constant: Generic Game Pad
Button #6.
Key code constant: Generic Game Pad
Button #7.
Key code constant: Generic Game Pad
Button #8.
Key code constant: Generic Game Pad
Button #9.

Key code constant: A Button key. On a

game controller, the A button should
be either the button labeled A or the
first button on the bottom row of
controller buttons.
Key code constant: B Button key. On a
game controller, the B button should
be either the button labeled B or the
second button on the bottom row of
controller buttons.

Key code constant: C Button key. On a

game controller, the C button should
be either the button labeled C or the
third button on the bottom row of
controller buttons.

Key code constant: L1 Button key. On

a game controller, the L1 button
should be either the button labeled L1
(or L) or the top left trigger button.

Key code constant: L2 Button key. On

a game controller, the L2 button
should be either the button labeled L2
or the bottom left trigger button.

Key code constant: Mode Button key.

On a game controller, the button
labeled Mode.

Key code constant: R1 Button key. On

a game controller, the R1 button
should be either the button labeled R1
(or R) or the top right trigger button.
Key code constant: R2 Button key. On
a game controller, the R2 button
should be either the button labeled R2
or the bottom right trigger button.

Key code constant: Select Button key.

On a game controller, the button
labeled Select.

Key code constant: Start Button key.

On a game controller, the button
labeled Start.

Key code constant: Left Thumb Button

key. On a game controller, the left
thumb button indicates that the left
(or only) joystick is pressed.

Key code constant: Right Thumb

Button key. On a game controller, the
right thumb button indicates that the
right joystick is pressed.

Key code constant: X Button key. On a

game controller, the X button should
be either the button labeled X or the
first button on the upper row of
controller buttons.

Key code constant: Y Button key. On a

game controller, the Y button should
be either the button labeled Y or the
second button on the upper row of
controller buttons.
Key code constant: Z Button key. On a
game controller, the Z button should
be either the button labeled Z or the
third button on the upper row of
controller buttons.

Key code constant: 'C' key.

Key code constant: Calculator special
function key. Used to launch a
calculator application.

Key code constant: Calendar special

function key. Used to launch a
calendar application.
Key code constant: Call key.
Key code constant: Camera key. Used
to launch a camera application or take
pictures.

Key code constant: Caps Lock key.

Key code constant: Toggle captions

key. Switches the mode for closed-
captioning text, for example during
television shows.

Key code constant: Channel down key.

On TV remotes, decrements the
television channel.

Key code constant: Channel up key.

On TV remotes, increments the
television channel.

Key code constant: Clear key.

Key code constant: ',' key.

Key code constant: Contacts special

function key. Used to launch an
address book application.

Key code constant: Left Control

modifier key.
 Key code constant: Right Control
modifier key.

Key code constant: 'D' key.

Key code constant: Backspace key. Deletes characters before the insertion point, unlike ForwardDel.

Key code constant: Directional Pad

Center key. May also be synthesized
from trackball motions.

Key code constant: Directional Pad

Down key. May also be synthesized
from trackball motions.

Key code constant: Directional Pad

Left key. May also be synthesized from
trackball motions.

Key code constant: Directional Pad

Right key. May also be synthesized
from trackball motions.

Key code constant: Directional Pad Up

key. May also be synthesized from
trackball motions.
Key code constant: DVR key. On some
TV remotes, switches to a DVR mode
for recorded shows.

Key code constant: 'E' key.

Key code constant: Japanese
alphanumeric key.

Key code constant: End Call key.

Key code constant: Enter key.

Key code constant: Envelope special
function key. Used to launch a mail
application.
Key code constant: '=' key.

Key code constant: Escape key.

Key code constant: Explorer special

function key. Used to launch a browser
application.
Key code constant: 'F' key.
Key code constant: F1 key.
Key code constant: F10 key.
Key code constant: F11 key.
Key code constant: F12 key.
Key code constant: F2 key.
Key code constant: F3 key.
Key code constant: F4 key.
Key code constant: F5 key.
Key code constant: F6 key.
Key code constant: F7 key.
Key code constant: F8 key.
Key code constant: F9 key.

Key code constant: Camera Focus key.

Used to focus the camera.
 Key code constant: Forward key.
Navigates forward in the history stack.

Key code constant: Forward Delete key. Deletes characters ahead of the insertion point, unlike Del.

Key code constant: Function modifier

key.
Key code constant: 'G' key.

Key code constant: '`' (backtick) key.

Key code constant: Guide key. On TV

remotes, shows a programming guide.

Key code constant: 'H' key.

Key code constant: Headset Hook key.

Used to hang up calls and stop media.

Key code constant: Japanese

conversion key.

Key code constant: Home key. This

key is handled by the framework and
is never delivered to applications.

Key code constant: 'I' key.

Key code constant: Info key. Common

on TV remotes to show additional
information related to what is
currently being viewed.

Key code constant: Insert key. Toggles

insert / overwrite edit mode.

Key code constant: 'J' key.

Key code constant: 'K' key.

Key code constant: Japanese kana

key.
Key code constant: Japanese katakana
/ hiragana key.

Key code constant: 'L' key.

Key code constant: Language Switch

key. Toggles the current input
language such as switching between
English and Japanese on a QWERTY
keyboard.

Key code constant: '[' key.

Key code constant: 'M' key.

Key code constant: Manner Mode key.

Toggles silent or vibrate mode on and
off to make the device behave more
politely in certain settings such as on
a crowded train.

Key code constant: Close media key.

May be used to close a CD tray, for
example.

Key code constant: Eject media key.

May be used to eject a CD tray, for
example.

Key code constant: Fast Forward

media key.
Key code constant: Play Next media
key.
Key code constant: Pause media key.

Key code constant: Play media key.

Key code constant: Play/Pause media

key.
Key code constant: Play Previous
media key.

Key code constant: Record media key.

Key code constant: Rewind media key.

Key code constant: Stop media key.

Key code constant: Menu key.

Key code constant: Left Meta modifier

key.
Key code constant: Right Meta
modifier key.
Key code constant: '-'.

Key code constant: End Movement

key. Used for scrolling or moving the
cursor around to the end of a line or to
the bottom of a list.

Key code constant: Home Movement

key. Used for scrolling or moving the
cursor around to the start of a line or
to the top of a list.
 Key code constant: Japanese non-
conversion key.

Key code constant: Music special

function key. Used to launch a music
player application.

Key code constant: Mute key. Mutes the microphone, unlike VolumeMute.

Key code constant: 'N' key.

Key code constant: Notification key.

Key code constant: '0' key.

Key code constant: '1' key.
Key code constant: '2' key.
Key code constant: '3' key.
Key code constant: '4' key.
Key code constant: '5' key.
Key code constant: '6' key.
Key code constant: '7' key.
Key code constant: '8' key.
Key code constant: '9' key.

Key code constant: Num Lock key. This is the Num Lock key; it is different from Num. This key alters t

Key code constant: Numeric keypad '0'

key.
Key code constant: Numeric keypad '1'
key.
Key code constant: Numeric keypad '2'
key.
Key code constant: Numeric keypad '3'
key.
Key code constant: Numeric keypad '4'
key.
Key code constant: Numeric keypad '5'
key.
Key code constant: Numeric keypad '6'
key.
Key code constant: Numeric keypad '7'
key.
Key code constant: Numeric keypad '8'
key.
Key code constant: Numeric keypad '9'
key.
Key code constant: Numeric keypad
'+' key (for addition).

Key code constant: Numeric keypad ','

key (for decimals or digit grouping).

Key code constant: Numeric keypad '/'

key (for division).

Key code constant: Numeric keypad '.'

key (for decimals or digit grouping).

Key code constant: Numeric keypad

Enter key.
Key code constant: Numeric keypad
'=' key.
Key code constant: Numeric keypad '('
key.

Key code constant: Numeric keypad '*'

key (for multiplication).

Key code constant: Numeric keypad ')'

key.

Key code constant: Numeric keypad '-'

key (for subtraction).

Key code constant: 'O' key.

Key code constant: 'P' key.

Key code constant: Page Down key.

 Key code constant: Page Up key.

Key code constant: '.' key.

Key code constant: Picture Symbols

modifier key. Used to switch symbol
sets (Emoji, Kao-moji).

Key code constant: '+' key.

Key code constant: '#' key.

Key code constant: Power key.

Key code constant: Blue

"programmable" key. On TV remotes,
acts as a contextual/programmable
key.

Key code constant: Green

"programmable" key. On TV remotes,
actsas a contextual/programmable
key.

Key code constant: Red

"programmable" key. On TV remotes,
acts as a contextual/programmable
key.

Key code constant: Yellow

"programmable" key. On TV remotes,
acts as a contextual/programmable
key.

Key code constant: 'Q' key.

Key code constant: 'R' key.

Key code constant: ']' key.

Key code constant: Japanese Ro key.

 Key code constant: 'S' key.

Key code constant: Scroll Lock key.

Key code constant: Search key.

Key code constant: ';' key.

Key code constant: Settings key.

Starts the system settings activity.

Key code constant: Left Shift modifier

key.
Key code constant: Right Shift
modifier key.
Key code constant: '/' key.

Key code constant: Space key.

Key code constant: '*' key.

Key code constant: Set-top-box input

key. On TV remotes, switches the
input mode on an external Set-top-
box.

Key code constant: Set-top-box power

key. On TV remotes, toggles the
power on an external Set-top-box.
 Key code constant: Switch Charset
modifier key. Used to switch character
sets (Kanji, Katakana).

Key code constant: Symbol modifier

key. Used to enter alternate symbols.

Key code constant: System Request /

Print Screen key.

Key code constant: 'T' key.

Key code constant: Tab key.

Key code constant: 3D Mode key.

Toggles the display between 2D and
3D mode.

Key code constant: TV key. On TV

remotes, switches to viewing live TV.
Key code constant: TV input key. On
TV remotes, switches the input on a
television screen.
Key code constant: TV power key. On
TV remotes, toggles the power on a
television screen.

Key code constant: 'U' key.

Key code constant: Unknown key
code.
Key code constant: 'V' key.

Key code constant: Volume Down key.

Adjusts the speaker volume down.
 Key code constant: Volume Up key.
Adjusts the speaker volume up.

Key code constant: 'W' key.

Key code constant: Window key. On

TV remotes, toggles picture-in-picture
mode or other windowing functions.

Key code constant: 'X' key.

Key code constant: 'Y' key.

Key code constant: Japanese Yen key.

Key code constant: 'Z' key.

Key code constant: Japanese full-width
/ half-width key.

Key code constant: Zoom in key.

Key code constant: Zoom out key.

 1N = 0.101972 kg-f 1 kg-f

2N = 0.203943 kg-f

29.41995 N = 3 kg-f
i 𝑻𝒊𝒊−𝟏Tii−1 𝜶𝒊−𝟏αi−1 𝒂𝒊−𝟏ai−1 𝜽𝒊θi 𝒅𝒊di

(∘)(∘) (mm) (∘)(∘) (mm)

1 𝑻10T10 0 0 𝜃1θ1 500

2 𝑻21T21 −90−90 150 𝜃2θ2 0

3 𝑻32T32 0 400 𝜃3θ3 0

4 𝑻43T43 −90−90 100 𝜃4θ4 540

5 𝑻54T54 90 0 𝜃5θ5 0

6 𝑻65T65 −90−90 0 𝜃6θ6 100

=