Serial Robots and Denavit Hartenberg Parameters

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25 May 2019 10:39 #134884 by andypugh
Trying to figure out what the Denavit-Hartenberg parameters of my Faro arm were I came across this:

"Denavit-Hartenberg Parameters for a Three-Link Robot"
  demonstrations.wolfram.com/DenavitHarten...sForAThreeLinkRobot/

This allows you to adjust the DH parameters of a robot with a graphical preview which makes it very much clearer what each parameter does.

You can basically adjust the on-screen model until it looks like yours, and then read off the DH params.

Though you may need to slightly rearrange them for Genserkins, which uses modified DH Parameters
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25 May 2019 14:32 #134897 by pl7i92
nice if you got a robot arm of this manufacturers

if the system is near then genserkins so why not probing on the vismach sim

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25 May 2019 14:44 #134901 by andypugh
The point is that this makes it really easy to see what each parameter means. And you can set up the alpha and r numbers to make it look like your robot, with the software keeping track of rotary vector directions etc.
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