# Questions tagged [dh-parameters]

Denavit–Hartenberg parameters are the parameters associated with a particular convention for attaching reference frames to the links of spatial kinematic chains, or robot manipulators.

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### transform IMU reference to robot reference

I have an IMU rigidly attached to the end effector of a robotic arm. The goal is to compare the orientation of the IMU to the orientation of the robot arm. The 9-axis IMU data is used in a sensor ...
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### Find the kinematic parameters using DH by Craig convention

I am trying to find the kinametic parameters using the J. Craig of the DH parameters for the following 2-DOF robotic manipulator. where $\ x,y$ are the axes of the reference frame and $\ q_1 , q_2$...
1 vote
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### How DH-parameters is obtained for this manipulator?

So I'm trying to find DH parameters for the manipulator as shown in this picture: I draw coordinate systems for each joint as: And I got this DH parameters: Is this solution correct? Am I missing ...
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1 vote
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### Denavit Hartenberg Exercises

I'm reading "Robot Modeling and Control" by Spong. It seems to me there are mistakes in the manual solutions provided by the authors. I came across the following two questions In this ...
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1 vote
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### Obtain a State Space System given Denavit-Hartenberg parameters and a Rigid Body Tree model in MATLAB

I'm confused regarding the representatoin of a 6 D.O.F. robot arm with multiple links. I have the denavit-Hartenberg parameters and have used these to create a Rigid Body Tree model in MATLAB. The ...
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1 vote
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### solving inverse kinematic using DH to keep it rotating over a center of motion

I am working on a 7 DOF robot. I want to solve the Inverse Kinematic(IK) of the robot using the inverse transformation matrix which I found them using DH. I mean: \begin{equation*} T = \begin{pmatrix}...
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1 vote
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### DH parameters for lynx robot

Can anyone help me out with DH parameters and axis placement for below kinematic chain?
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1 vote
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### Forward kinematics on Stanford manipulator

I recently had an exam in robotics and one of the questions was about forward kinematics on the Stanford manipulator below. The DH parameters were given and we were asked to calculate the angular ...
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### Suggestions for My Interactive Visualization Web Tool for Robotic Learning

I am a Digital IC designer in Taiwan. Recently, I started studying Robotics by myself, but I've been frustrated by the math involved, including Euler angles, Quaternions, and DH models. They were just ...
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### I need some help calculating some Denavit-Hartenberg parameters

I'm new here. Nice to meet you! I am struggling to calculate some Denavit - Hartenberg parameters of 2 joints of a 6 degree of freedom robot. I'm having trouble trying to calculate the Denavit ...
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### Deviation from real vs nominal DH parameters

some time ago, i built an inverse kinematics solver for industrial 6R robot arm. It work fine and i was able to use different robot brands, usually i took the DH parameters from robot's drawing and ...
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### Dexterous Workspace

Can anyone please help me understand how I can get the dexterous workspace I know how to obtain the reachable workspace but in 3D I can't see the dexterous, anyone know of any tricks or tips? Would ...
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### What should be the correct direction of X-axis assigned to a joint frame as per DH convention?

I am working on the kinematics diagram of a 6DOF Kuka KR210 serial manipulator. I am trying to assign frames to each joint as per the DH convention. I found a tutorial online where they are using DH ...
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### Forward Kinematics for a Robot Arm with an offset

Hi I am working with a WidowX-200 robot arm. I have an fake joint between joints 2 and 3 to simulate an offset in the actual robot arm. The joints are motors which can turn and here are the joint ...
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### DH Paramater and Kinematic diagram for 2DOF Cobot

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: <...
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### DH parameters of a serial manipulator RRRRRR

I am trying to find the forward kinematics of this manipulator in the picture using DH notation. All of the joints are rotational. I managed to get to the third joint. The parameter table is below. ...
103 views

### When assigning frames in Denavit-Hartenberg (DH) parameters, where do I put the frame on end effector?

I have a simple question, for the last link (end effector) I need to estimate the parameters but when I put the reference frames in the center of the end effector, I just don't know. Last link (end ...
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### Retrieving Denavit-Hartenberg-Parameters from homogenous transformation-matrix

i am trying to implement a matlab script where the user can enter quaternions and retrieve the corresponding denavit hartenberg parameters for this link. My approach is to create the homogenous ...
80 views

### DH parameters to compute the transformation matrix

Below is my code. All values of theta, d, a and alpha are known. How should I define T00, T01, and so on? function [T] = dhtransform(theta, d, a, alpha) T = [cosd(theta) -sind(theta) * cosd(alpha) ...
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