ABB Modified DH Parameters (Denavit-Hartenberg)

  • Hello everyone,


    I was trying to extract the denavit hartenberg parameters for some robots through the robot studio library (Pim.xml file when you open the robot with winrar).

    Everything was ok for the IRB140 and IR2600ID, as each one had their 6 DH parameters.


    When it got to the IRB 6700 for example, the list had more than 6 parameters for strange values like "link value=8" to "next joint value= -1".

    Can anyone explain me if these values are the modified DH parameters, and if yes how are they organized?


    I leave the example for the IRB6700 245-300 bellow, thank you.


    Example:


    -<JointInfos>



    -<Element type="TJointInfo">


    <IsRevoluteJoint Value="true"/>



    -<DHParameters>



    -<Element type="TDHParameters">


    <NextJoint Value="1"/>

    <Link Value="1"/>

    <Twist Value="0"/>

    <Length Value="0"/>

    <Rotation Value="0"/>

    <Offset Value="0"/>


    </Element>


    -<Element type="TDHParameters">


    <NextJoint Value="6"/>

    <Link Value="-1"/>

    <Twist Value="0"/>

    <Length Value="0"/>

    <Rotation Value="-3.14159265358979"/>

    <Offset Value="-0.1025"/>


    </Element>


    </DHParameters>


    </Element>



    -<Element type="TJointInfo">


    <IsRevoluteJoint Value="true"/>



    -<DHParameters>



    -<Element type="TDHParameters">


    <NextJoint Value="2"/>

    <Link Value="2"/>

    <Twist Value="-1.5707963267949"/>

    <Length Value="0.35"/>

    <Rotation Value="-1.5707963267949"/>


    <Offset Value="0"/>


    </Element>



    -<Element type="TDHParameters">


    <NextJoint Value="7"/>

    <Link Value="-1"/>

    <Twist Value="-1.5707963267949"/>

    <Length Value="0.35"/>

    <Rotation Value="2.9967380282741"/>

    <Offset Value="0"/>


    </Element>


    </DHParameters>


    </Element>



    -<Element type="TJointInfo">


    <IsRevoluteJoint Value="true"/>



    -<DHParameters>



    -<Element type="TDHParameters">


    <NextJoint Value="3"/>

    <Link Value="3"/>

    <Twist Value="0"/>

    <Length Value="1.145"/>

    <Rotation Value="0"/>

    <Offset Value="0"/>


    </Element>


    </DHParameters>


    </Element>



    -<Element type="TJointInfo">


    <IsRevoluteJoint Value="true"/>



    -<DHParameters>



    -<Element type="TDHParameters">


    <NextJoint Value="4"/>

    <Link Value="4"/>

    <Twist Value="-1.5707963267949"/>

    <Length Value="0.2"/>

    <Rotation Value="0"/>

    <Offset Value="1.4625"/>


    </Element>


    </DHParameters>


    </Element>



    -<Element type="TJointInfo">


    <IsRevoluteJoint Value="true"/>



    -<DHParameters>



    -<Element type="TDHParameters">


    <NextJoint Value="5"/>

    <Link Value="5"/>

    <Twist Value="1.5707963267949"/>

    <Length Value="0"/>

    <Rotation Value="-3.14159265358979"/>

    <Offset Value="0"/>


    </Element>


    </DHParameters>


    </Element>



    -<Element type="TJointInfo">


    <IsRevoluteJoint Value="true"/>



    -<DHParameters>



    -<Element type="TDHParameters">


    <NextJoint Value="-1"/>

    <Link Value="6"/>

    <Twist Value="1.5707963267949"/>

    <Length Value="0"/>

    <Rotation Value="0"/>

    <Offset Value="0"/>


    </Element>


    </DHParameters>


    </Element>



    -<Element type="TJointInfo">


    <IsRevoluteJoint Value="true"/>



    -<DHParameters>



    -<Element type="TDHParameters">


    <NextJoint Value="-1"/>

    <Link Value="7"/>

    <Twist Value="-1.5707963267949"/>

    <Length Value="0.3525"/>

    <Rotation Value="0"/>

    <Offset Value="0"/>


    </Element>


    </DHParameters>


    </Element>



    -<Element type="TJointInfo">


    <IsRevoluteJoint Value="true"/>



    -<DHParameters>



    -<Element type="TDHParameters">


    <NextJoint Value="-1"/>

    <Link Value="8"/>

    <Twist Value="-3.14159265358979"/>

    <Length Value="0.229998800214262"/>

    <Rotation Value="0"/>

    <Offset Value="0"/>


    </Element>


    </DHParameters>


    </Element>


    </JointInfos>

    Edited once, last by Gil ().

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