Help Denavit Hartenberg parameters...

[andmendi005]

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

[andmendi005]

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

[Soeren]

Hi,

Not sure if this is any help, but I'll let you decide...
http://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters

[andmendi005]

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?