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Number of DH params for 6 DOF arm

urdf

asked 2014-06-07 00:48:07 -0500

tr0n
1 ●1 ●1 ●1

Some of my co-workers are using a DH model with 7 parameters to describe a 6 DOF arm. Normally I've only ever seen 7 DH params used to describe a 7 DOF arm, and 6 DH params to describe a 6 DOF arm.

Has anyone seen this before?

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Asked: 2014-06-07 00:48:07 -0500

Seen: 127 times

Last updated: Jun 07 '14

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Number of DH params for 6 DOF arm