How should I build the DH parameter table for the DH model of the 6-joint robot?
The diagram shows the DH model of a 6-joint robot. How should the DH parameter table of this model be created?
How should I build the DH parameter table for the DH model of the 6-joint robot?
The diagram shows the DH model of a 6-joint robot. How should the DH parameter table of this model be created?
first I would draw the robot in zero position for every axis.
As a second step you would need to define which transformation matrice you want you use:
- as defined by DH (rot.z (theta)*trans.z(d)*trans.x(a)*rot.x(alpha))
- as defined by Craig (rot.x(alpha)*trans.x(a)*trans.z(d)* rot.z (theta))
first I would draw the robot in zero position for every axis.
As a second step you would need to define which transformation matrice you want you use:
- as defined by DH (rot.z (theta)*trans.z(d)*trans.x(a)*rot.x(alpha))
- as defined by Craig (rot.x(alpha)*trans.x(a)*trans.z(d)* rot.z (theta))
Thank you, I will try!