ICubFowardKinematics
Jump to navigation
Jump to search
These are the Denavit-Hartenberg parameters for the first seven joints.
| Link i / H – D | alpha i (deg) | Ai (mm) | di+1 (mm) | theta_i+1 |
|---|---|---|---|---|
| i = 0 | 15 | 0 | LA0 = 81.80 | -40 -> 230 |
| i = 1 | 90 | 0 | LA1 = 28.00 | 0 -> 180 |
| i = 2 | 0 | 0 | 0 | 90 |
| i = 2' | -90 | 0 | LA2 = 42.50 | -90 -> 90 |
| i = 3 | 90 | 0 | LA3 = 108.96 | 15 -> 90 |
| i = 4 | 90 | 15 | 0 | -90 -> 90 |
| i = 5 | 90 | 0 | 0 | 0 |
| i = 5' | 0 | 0 | LA5 = 137.50 | (-45 -> 90) + 90 |
| i = 6 | 90 | 0 | 0 | -45 -> 45 |
The matrix which rotates 'joint i-1' to 'joint i' is:
| cos(theta_i) | -sin(theta_i) | 0 | A_(i-1) |
| sin(theta_i)cos(alpha_(i-1)) | cos(theta_i)cos(alpha_(i-1)) | -sin(alpha_(i-1)) | -d_i sin(alpha_(i-1)) |
| sin(theta_i)sin(alpha_(i-1)) | cos(theta_i)sin(alpha_(i-1)) | cos(alpha_(i-1)) | d_i cos(alpha_(i-1)) |
| 0 | 0 | 0 | 1 |