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oliverks
03-18-2019, 03:33 PM
Hi,

I am using the PhantomX Pincher Robot Arm Kit Mark II. I am controlling the servos directly, and I am using my own software to control the arm. I was wondering if anyone had already calculated the Denavit–Hartenberg parameters for the arm.

If so could you post them to the forum.

Thank you in advance

Oliver

jwatte
03-28-2019, 01:36 PM
I just multiply out the transforms from the root using 4D matrices (graphs/physics-simulation style,) so I don't use that convention.
Also, I express the transforms using identity in the "servo is centered" position, so that setting all servos to center generates an identity transform for the tip of the toes.
The parameters for this are a (position, axis) 6-tuple per child servo of a parent node.
The benefit of this is that it's pretty easy to just measure with a rule, or even read the offsets straight out of CAD.

What particular math/system are you using that needs D-H?