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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?
Look at this answer :
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
This repo seems like a useful tool for people needing this capability in the future: https://github.com/mcevoyandy/urdf_to_dh
Asked: 2016-02-29 19:53:30 -0500
Seen: 10,794 times
Last updated: Dec 17 '21
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