ICubFowardKinematics

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These are the Denavit-Hartenberg parameters for the first seven joints.

DHnotation.jpg

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