Denavit Hartenberg vs. URDF

asked 2020-03-10 10:57:10 -0500

olga_pi gravatar image

Hi! I’m new to ROS and I need a help in understanding the difference between Denavit-Hartenberg-Parameters-Convention and URDF. I would like to use DH convention, but describing my robot’s model in URDF I get something different. Is it possible to describe the robot model using a DH convention in URDF?

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URDF transforms allow for more freedom when modelling a robot than D-H.

Please see #q300789, which I believe is a duplicate of your question.

gvdhoorn gravatar image gvdhoorn  ( 2020-03-10 11:53:28 -0500 )edit

First of all thank you very much for your reply. I had seen the post #q300789 before, but I still didn't get it...

So does it mean I have to use either DH or URDF, but not both at the same time? Is it even possible to work with DH in ROS and Gazebo?

olga_pi gravatar image olga_pi  ( 2020-03-10 12:00:32 -0500 )edit

There is no direct support for DH in any of the core components. I believe this is due to the fact that DH is actually quite limited. URDF is certainly not perfect, but the flexibility of 6D transforms is something DH cannot support.

The packages linked in the question I linked in my earlier comment can be used to convert from DH to URDF (in some cases, I'm sure there are corner cases not covered).

PS: please always mention what you already found. It would prevent me from posting a comment pointing you to the same Q&A. Saves me and you some time.

gvdhoorn gravatar image gvdhoorn  ( 2020-03-10 15:59:31 -0500 )edit

Ok. Thank you!

olga_pi gravatar image olga_pi  ( 2020-03-11 01:34:43 -0500 )edit