D-H table for youbot

Question

I'm trying to do the forward kinematics for a KUKA youbot and am looking for a table of the D-H parameters (so that I can calculate the rotation matrices). Is there a way in Gazebo that will output the rotation matrices directly? Can anyone point me to one (a table of a way to output the matrices)? Thank you!

EDIT: I'm aware of the tf and KDL libraries... the difference is that I'm trying to OUTPUT the matrices (so that I can study them) Maybe via the urdf? is that possible?

---

Originally posted by joe.s on ROS Answers with karma: 162 on 2013-02-07

Post score: 3

Answer 1

I'm not aware of a way to generate DH parameters directly from URDF.

You can however convert your robot the OpenRAVE format (see for example here on how to do that). Then, you can generate a table of DH parameters using OpenRAVE's GetDHParameters function.

---

Originally posted by Stefan Kohlbrecher with karma: 24361 on 2013-02-07

This answer was ACCEPTED on the original site

Post score: 3

---

Original comments

Comment by joe.s on 2013-03-06:
Do you have any examples of how to use OpenRAVE? Specifically that GetDHParameters code?

Comment by jesus_hdez_b on 2016-01-26:
Hi! i finally got the robot.dae and i cannot find an example about how to use the GetDHParameters function in order to get de dh parameters, do you have an example?, or do you have de dh parameters?

Comment by sirop on 2017-01-01:
@jesus_hdez_b Something like:

dh0, dh1, dh2, dh3, dh4 = planningutils.GetDHParameters(myRobot) 

What makes me wonder is the comment: The coordinate systems computed from the DH parameters do not match the OpenRAVE link coordinate systems.