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
- Does the D-H table match the design?
- 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.