ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Get DH parameters from URDF

asked 2016-02-29 19:53:30 -0500

AdityaBhat gravatar image

I have a URDF file from which I wanted to get the DH parameters for a strange use case. Is there a way to get the DH table from the URDF file?

edit retag flag offensive close merge delete

4 Answers

Sort by ยป oldest newest most voted

answered 2016-03-01 07:22:31 -0500

Airuno2L gravatar image

Having a look at OpenRave like the answer that F.Brosseau linked to suggests might be worth while, but in general having a tool that generates DH parameters from a URDF is difficult because frame based representations like URDF (and KDL chains) can do things that DH does not support such as having the joint rotate around any axis (rather than always Z) and branching chains.

In fact I think having a tool that works for all chains is impossible, DH is a legacy concept nowadays. Maybe if you explain your use case there is a way to avoid using them?

edit flag offensive delete link more



DH is a legacy concept nowadays?

itfanr gravatar image itfanr  ( 2018-09-09 22:31:18 -0500 )edit

answered 2016-03-01 02:13:31 -0500

F.Brosseau gravatar image
edit flag offensive delete link more

answered 2018-11-11 09:54:34 -0500

Navaneeth gravatar image

convert the urdf file into moveit_config package using moveit setup assistent A package will be created when the setup assitant completed. In that package there is a demo.launch file catkin_make the moveit_config package and launch the demo.launch file folllow the tutorial and run the code

it will return the dh values and jocobian values

edit flag offensive delete link more


On the linked page, only the Jacobian values are given and no DH params... how should one generate that output?

zweistein gravatar image zweistein  ( 2019-02-18 08:15:47 -0500 )edit

answered 2021-12-17 12:16:56 -0500

shonigmann gravatar image

This repo seems like a useful tool for people needing this capability in the future:

edit flag offensive delete link more

Question Tools



Asked: 2016-02-29 19:53:30 -0500

Seen: 10,936 times

Last updated: Dec 17 '21