Denavit-Hartenberg parameters M6iB

[Jim Tyrer]

Does anyone have a D-H frame assignment matrix for a M6iB series arm?
I get correct X Y and Z for forward kinematics with joints @ 0,0,0,0,0,0 but W P R still escapes me.

I have [   -0.5PI    0.15     0     0;
                 PI    0.6      0     0;
              0.5PI    0.1      0     0;
              0.5PI    0        0     0.615;
              -0.5PI    0         0      0
             0    0        0     0.1].....all angles are rad, and order is (twist angle, length, rotation angle, offset) of each link.

Thanks
Jim

[Vlad]

If you use the ":" operator, you shold be able to get the W,P and R values.

...if my understanding is correct about what you asked....

Bye

[Jim Tyrer]

No, what I mean is that the WPR values I get after running a fwd kinematics function on Scilab&RTSS are not the same as the WPR angles
of a real M6iB controller, and for the same joint angles, converted into world coordinates.

I was hoping someone has a DH parameter values for twist, length, theta,and offset that work properly.
It does not have to be for a M6iB arm, any arm with with the same architecture as a M6iB will do.
What I want to do is write a Scilab script that can calculate cycle times for any robot based on cartesian coords from a cad model, all one would need is a DH file to define the mechunit.

[Vlad]

Really intresting, but i think i can't help about this.....

Just a question, you talked about cycle time related to the arm mechanical design, but how can you consider the speed of each motor?
bye

[Fanucboy]

Hi Jim,

as far as i know FANUC has never released the DH parameters.
Why dont you use Roboguide to know your cycle times?