So I'm trying to find DH parameters for the manipulator as shown in this picture: enter image description here

I draw coordinate systems for each joint as: enter image description here

And I got this DH parameters: enter image description here

Is this solution correct? Am I missing something here?

  • $\begingroup$ Is your coordinates system at the home configuration ? $\endgroup$
    – McLovin
    Commented Sep 29, 2022 at 20:26
  • $\begingroup$ @McLovin yes they are $\endgroup$
    – Hury H
    Commented Oct 25, 2022 at 20:34
  • $\begingroup$ i tried inputting these DH values to matlab, and matlab doesn't return the same robot. I will write an answer when I get time $\endgroup$
    – McLovin
    Commented Oct 28, 2022 at 22:30


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