This is probably a noob question.
But as of right now I am having difficulty converting from the Modified DH to a Standard DH parameters for the Franka Emika Panda. I need standard because it allows me to avoid recoding a lot of my other functions.
The modified DH parameters are provided in the following link: https://frankaemika.github.io/docs/control_parameters.html#constants
Joint a(m) d(m) α(rad) θ(rad)
------------------------------------------
Joint 1 0 0.333 0 θ1*
Joint 2 0 0 −π/2 θ2*
Joint 3 0 0.316 π/2 θ3*
Joint 4 0.0825 0 π/2 θ4*
Joint 5 -0.0825 0.384 −π/2 θ5*
Joint 6 0 0 π/2 θ6*
Joint 7 0.088 0 π/2 θ7*
Flange 0 0.107 0 0
I suspect my brain has frozen in favor of idiocy as I tried finding the parameters by doing it by hand, but right now I am consistently getting something that doesn't look right is there someone who can help me out?
And to the bigger question: is there like an efficient way of doing this "matlab, python, etc"? Like a nice conversion method/strategy/algorithm etc?
Any help would be appreciated. Thanks in advance.
Edit: Is it really just shifting the a(m) and alpha(m) parameters?