I have searched many documents, but I couldn't find the DH table of this industrial robot? Is the DH parameters the business secret? Thanks for your help
How can I get the DH table of industrial robot 'kuka lbr iiwa 14 R820'?
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a312514554 -
February 16, 2017 at 2:58 PM -
Thread is marked as Resolved.
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First of all: There is no unique set of DH parameters. Different conventions exist: Original DH according to the Denavit Hartenberg paper or the convention used e.g. inside some textbooks:
https://www.robot-forum.com/robotforum/kuk…70066/#msg70066
Otherwise you could use the construction drawings of the robot because the only input you need is link length and link sequence degrees. With this Information ist quite easy to calculate them yourself. For link length determination you could also use a yard stick
And by the way using the forum search function reveals a lot of posts giving answers to your problem
https://www.robot-forum.com/robotforum/kuk…rum/read-first/
Fubini
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I took this from a paper here which used the Kuka robot. I have given the link to the paper. Maybe someone else can use it in the future.