# /Forward and Inverse kinematics (manipulator for transferring scrap metal )

I'm trying to design, using Matlab, a manipulator for transferring scrap metal but I have got stuck...

I want to model this manipulator in Matlab's Robotics System Toolbox. I need the D-H table, as the input parameters for that. I have performed some actions among them: designing the axes, composing the table. But I don't know, if I was right or wrong.

Here is a picture of the manipulator before axes design.

Below is a picture of my design with axes and D-H table.

So, 4-DOF manipulator, 4 rotate joints, 1 prismatic. Grapple can rotate on 360 degrees, manipulator's column - 220 degrees.

What I want to know is

1. Does the D-H table match the design?
2. Does my design meet my needs?

I have a lot of other interesting questions. But firstly I need to finish deeds with forward kinematics.

After achieving the correct D-H table, I will try to derive A and T - matrices.

• Welcome to Robotics manro, but I'm afraid that it is not clear what you are asking. We prefer practical, answerable questions based on actual problems that you face, so it's a good idea to include details of what you want to achieve, what you tried, what you saw & what you expected to see or don't understand. Please take a look at How to Ask & tour for more information on how stack exchange works and work through the Robotics question checklist to edit your question to make it clearer. – Mark Booth Jan 30 '18 at 14:16
• Specifically, Yes, please add a picture, and the d-h parameters you currently have. If you add the information required to make the question on topic, we can re-open it for you (take it off hold) and then people will be able to answer your question. – Mark Booth Jan 30 '18 at 14:18
• I see my problem with axis drawing ... you see a problem, but you do not say what it is. – jsotola Jan 30 '18 at 21:10
• @jsotola I dont know, right I have drawn them or wrong... And D-H too. – manro Jan 30 '18 at 22:14
• i do not understand what you are saying – jsotola Jan 31 '18 at 2:16