pano89
Mechanical
- Sep 26, 2014
- 1
hi,
someone who know DH convention?
it's a 4R manipulator; I have set the frames following DH rules, they should be right
is this DH table of parameters rigth?
\begin{matrix} L_i & \theta & d_i & a_i & \alpha_i \\ 1 & q_1 & 0 & L_1 & 0 \\ 2 & q_2 & 0 & L_2 & 0 \\ 3 & q_3 & -M & -N & +90 \\ 4 & q_4 & L_3 & N & 0\end{matrix}
thanks
someone who know DH convention?
it's a 4R manipulator; I have set the frames following DH rules, they should be right
is this DH table of parameters rigth?
\begin{matrix} L_i & \theta & d_i & a_i & \alpha_i \\ 1 & q_1 & 0 & L_1 & 0 \\ 2 & q_2 & 0 & L_2 & 0 \\ 3 & q_3 & -M & -N & +90 \\ 4 & q_4 & L_3 & N & 0\end{matrix}
thanks