Difference between revisions of "MATLAB: Denavit Hartenberg parameters"
From Robotics
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Individual Links can be configured using the class ''Link'' of the Robotics Toolbox. Five parameters have to be set as a vector. The first four are <math>\theta</math>, <math>d</math>, <math>a</math> and <math>\alpha</math>. For a revolute joint, the last parameter has to be set to <math>0</math>, for a prismatic joint to <math>1</math>. | Individual Links can be configured using the class ''Link'' of the Robotics Toolbox. Five parameters have to be set as a vector. The first four are <math>\theta</math>, <math>d</math>, <math>a</math> and <math>\alpha</math>. For a revolute joint, the last parameter has to be set to <math>0</math>, for a prismatic joint to <math>1</math>. | ||
So if a manipulator consisting of one prismatic joint and two revolute joints is to be created, the three links could be configured as follows: | So if a manipulator consisting of one prismatic joint and two revolute joints is to be created, the three links could be configured as follows: | ||
| − | :[[file:mat-links.png| | + | :[[file:mat-links.png|526px]] |
The corresponding serial link is then created using the class ''SerialLink'' and passing the existing links in form of a vector as parameter: | The corresponding serial link is then created using the class ''SerialLink'' and passing the existing links in form of a vector as parameter: | ||
| − | :[[file:mat-sl.png| | + | :[[file:mat-sl.png|526px]] |
Revision as of 11:59, 14 January 2016
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Individual Links can be configured using the class Link of the Robotics Toolbox. Five parameters have to be set as a vector. The first four are 
, 
, 
and 
. For a revolute joint, the last parameter has to be set to 
, for a prismatic joint to 
.
So if a manipulator consisting of one prismatic joint and two revolute joints is to be created, the three links could be configured as follows:
The corresponding serial link is then created using the class SerialLink and passing the existing links in form of a vector as parameter:
