I have created a 6-DOF robot using RigidBodyTree() method and modified D-H parameters using robotics toolbox in MATLAB.
I have followed the example here: https://www.mathworks.com/help/robotics/ref/robotics.rigidbodytree-class.html#bvet6e8
To bring the robot to its actual home position (position of the real robot when encoder values read 0), I have to pass specific theta (DH Parameter) values: [0 -pi/2 0 0 0 pi].
However, there are discrepancies in the joint values for home position of robot created using DH parameters and that of the actual robot.
For actual robot and its simulators, passing a joints value of [0 0 0 0 0 0] gets to the home position.
This creates problems during inverse kinematics. For the same home position (4X4 transformation matrix), the joint angles are different for real robot simulator and robot created using modified DH parameters ([0 0 0 0 0 0] vs [0 -pi/2 0 0 0 pi]).
The DH parameter method ignores theta values when creating robot. How can I match the home configuration of the robot to the real robot?