Society of Robots - Robot Forum
Mechanics and Construction => Mechanics and Construction => Topic started by: andmendi005 on January 23, 2012, 04:45:01 AM
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Dear colleagues,
I am working on my bachellor thesis and I have to do the model of the Stäubli RX130 robot.
I have made several times the DH parameters chart with the references they gave me (the blue edges on the file atached) and I get really stacked.
Can you help me to solve my problem please?
Thanks
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The parameters I have are:
lox= 0.127;
loy= 0.147;
loz= 0.501;
l0= sqrt((lox^2)+(loy^2)) ;
l1= 0.2565;
l2= 0.625;
l3= 0.132;
l4= 0.793;
l5= 0.110;
theta = [q(1) q(2)+pi/2 q(3) q(4) q(5) q(6)];
d = [loz 0 -l1 0 l4 l5 ];
a = [l0 l1 l2 l3 0 0 ];
alfa = [0 -pi/2 0 -pi/2 0 pi/2];
but they are not correct at all I think! Please!! Some help
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Hi,
Not sure if this is any help, but I'll let you decide...
http://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters (http://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters)
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Thank Soeren
I already checked the link you send me but still have doubts about it. Are the parameters I choose correct? Can someone have a look please?