I am having a problem that I hope to find some help for, this might be the right place!
I want to find a DH parameter table for a 3 degree of freedom robot, and made an illustration picture as linked below.
The problem is that when I found my solution, I stumbled upon someone who also have made his DH parameter table for this robot and they show different results.
He used it in a master thesis, so I can't convince myself that his answer is wrong too easily.
As shown in the picture, only the 3rd Link-parameters differ, and as you can see he does not account for the horisontal length of Link 3. Is this allowed? The axis definitions is made by me, I choose to put the x3-axis horisontal because this was the only way I could include the a3-length in the parameters. But is it possible to just ignore this?
I am going to use this for complex calculations later, so I hope to make the DH-parameters as easy to work with as possible.
Note: This is the ABB IRB140 robot, which is a 6DOF robot, but it is simplified for my problem to a 3DOF robot. The other guy as done the same thing, but he calculated the full 6DOF DH-table where the a3-length is included, but only used the DH-table as shown for the 3DOF version of the robot.