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Here is my robot model in moveit, I believe the kinematic diagram is not right. Can anyone tell me the correct DH parameter values for this robot model. As far as I understand the values should be:

link       alpha      d(height)       r       theta
  1         90        71.5           58       90+theta1
  2          0          0            165      theta2

I have solve the homogenous matrix for them if thetas are 0

a1 = [0.0, -0.0, 1.0, 0.0]
     [1.0, 0.0, -0.0, 58.0]
     [0, 1.0, 0.0, 71.5]
     [0, 0, 0, 1]]
a2 = [0.0, -1.0, 0.0, 0.0]
     [1.0, 0.0, -0.0, 165.0]
     [0, 0.0, 1.0, 0]
     [0, 0, 0, 1]

Can someone please point out what mistake I am making here?

Robot kinematic diagram

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  • $\begingroup$ Welcome to Robotics, MrDeepak. Could you please edit your question to include more information? You say you believe the kinematic diagram is not right but also that the values should be <table>. What do you mean? Which kinematic diagram is not right? Why do you think it's not right? Where did you get the DH parameters you provided? $\endgroup$
    – Chuck
    Jul 7, 2023 at 13:17

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