# ICubFowardKinematics v2

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

Here is the matlab code for computing the forward kinematics with the Denavit Hartenberg notation Media: FwdKin7DOF.zip.

Link i / H – D | Ai (mm) | di+1 (mm) | alpha i (rad) | theta_i+1 (deg) |
---|---|---|---|---|

i = 0 | 0 | LA0 = 109.8 | pi/2 | -40 -> 230 |

i = 1 | 0 | 0 | -pi/2 | (0 -> 180)-90 |

i = 2 | 0 | -151.46 | pi/2 | -90 -> 90 |

i = 3 | -15 | 0 | pi/2 | 15 -> 90 |

i = 4 | 0 | 137.5 | pi/2 | -90 -> 90 |

i = 5 | 0 | 0 | pi/2 | (-45 -> 90) +90 |

i = 6 | 0 | 0 | 0 | (-45 -> 45) |

The matrix which rotates 'joint i-1' to 'joint i' is:

cos(thet) | -sin(thet)*cos(alph) | sin(thet)*sin(alph) | cos(thet)*a |

sin(thet) | cos(thet)*cos(alph) | -cos(thet)*sin(alph) | sin(thet)*a |

0 | sin(alph) | cos(alph) | d |

0 | 0 | 0 | 1 |