# Do DH parameters change for a scaled robot 3d model?

I have the actual DH parameters of a robot:

d1 = 0.4865 m
d2 = 0.600 m
d3 = 0.065 m
a1 = 0.150 m
a2 = 0.475 m


all other di's and ai's are zero.

Can I use these for an inverse kinematics analytic closed form computation or should I measure the virtual distances in the 3d environment?

I am actually asking if the theta angles that will be yeld after the computations are dependent on the scale of those distances.

EDIT: Scale factor is unknown

• or you could say i am asking that if some dh parameters work for a 3d robot model, would they work the exactly the same on another bigger or smaller one? I guess the desired transform of the end effector should be different, but what else? – hey Aug 21 '16 at 19:33