# ICubFowardKinematics

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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 |