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Deviation from real vs nominal DH parameters

Yes, in my experience UR5e arms have areas in the workspace that show a couple millimeters difference between the reported end-effector position which uses the internal factory calibration and my own ...
danzimmerman's user avatar
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Order of DH parameters

From the indices you use, your textbook may be using the modified DH convention that inverts the X and Z transforms.
oKermorgant's user avatar
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Order of DH parameters

The order of the columns in the DH table does not matter, but please look at the following transformation built from each row and the transformations order from left to right. This is Equation 3.1 ...
Robotawi's user avatar
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Order of DH parameters

The order in which the columns are arranged do not matter in the D-H table. It's information given by each row taken collectively that matters, i.e. the 4 variables together decide what the ...
Srijal's user avatar
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DH Parameters for PR configuration

By definition, the (d) parameter in the Denavit-Hartenberg (DH) convention represents the distance/offset along the current frame's Z axis from the current frame's X axis to the next Frame's X axis. ...
Robotawi's user avatar
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DH Parameters for PR configuration

For the given diagram, it would be correct to ignore the highlighted area since it appears that L denotes the distance from the first joint to the second. Otherwise, you could equivalently draw frame ...
Srijal's user avatar
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