Hi, I'm working on a project where we are modeling what happens if the robot kinematic model is wrong. I am just referring to the lengths and angles associated with the arm model for now.
We have a robot where we are trying to prove out our models.
I can't understand how to apply/change some of the angle parameters. In discussion of robot models, people talk about the DH parameters, and there are two types of angles included in that: alpha and theta. People use alpha for the angles in the plane of joint rotation, and theta for the angles out of plane.
I care about the theta angles right now. In reality, this might represent if the joints were somehow bolted together wrong, like a misalignment.
Does anyone have suggestions on whether there are system variables and what their names are, for modifying these theta parameters?
I need to be able to change ALL these parameters, but I can't figure "theta" out.