# ICubFowardKinematics v3

From Wiki for iCub and Friends

These are the Denavit-Hartenberg parameters for the first seven joints. Parameters have been modified so that the rotation direction corresponds to the one on the robot. Here is the updated matlab code for computing the forward kinematics with the Denavit Hartenberg notation Media: FwdKin7DOF.zip.

Here is the table of the actual DH parameters.

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

i = 0 | 0 | LA0 = -109.8 | pi/2 | 5 -> -95 |

i = 1 | 0 | 0 | -pi/2 | (0 -> 160.8)-90 |

i = 2 | 0 | -151.46 | -pi/2 | (-37 -> 100) - 90 |

i = 3 | 15 | 0 | pi/2 | 5.5 -> 106 |

i = 4 | 0 | -137.5 | pi/2 | (-50 -> 50)-90 |

i = 5 | 0 | 0 | pi/2 | (10 -> -65) +90 |

i = 6 | -62.5 | 0 | 0 | (-25 -> 25) |