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