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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?

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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?

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DH is a legacy concept nowadays?

itfanr gravatar imageitfanr ( 2018-09-09 22:31:18 -0500 )edit
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answered 2016-03-01 02:13:31 -0500

F.Brosseau gravatar image
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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

http://docs.ros.org/kinetic/api/movei... folllow the tutorial and run the code

it will return the dh values and jocobian values

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

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

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

Seen: 1,722 times

Last updated: Nov 11 '18