D-H table for youbot

asked 2013-02-07 09:24:09 -0500

joe.s
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updated 2014-01-28 17:15:10 -0500

ngrennan
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I'm trying to do the forward kinematics for a KUKA youbot and am looking for a table of the D-H parameters (so that I can calculate the rotation matrices). Is there a way in Gazebo that will output the rotation matrices directly? Can anyone point me to one (a table of a way to output the matrices)? Thank you!

EDIT: I'm aware of the tf and KDL libraries... the difference is that I'm trying to OUTPUT the matrices (so that I can study them) Maybe via the urdf? is that possible?

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answered 2013-02-07 10:21:52 -0500

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

I'm not aware of a way to generate DH parameters directly from URDF.

You can however convert your robot the OpenRAVE format (see for example here on how to do that). Then, you can generate a table of DH parameters using OpenRAVE's GetDHParameters function.

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Do you have any examples of how to use OpenRAVE? Specifically that GetDHParameters code?

joe.s ( 2013-03-06 03:47:21 -0500 )edit

Hi! i finally got the robot.dae and i cannot find an example about how to use the GetDHParameters function in order to get de dh parameters, do you have an example?, or do you have de dh parameters?

jesus_hdez_b ( 2016-01-26 12:59:13 -0500 )edit

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@jesus_hdez_b Something like:

dh0, dh1, dh2, dh3, dh4 = planningutils.GetDHParameters(myRobot)

What makes me wonder is the comment: The coordinate systems computed from the DH parameters do not match the OpenRAVE link coordinate systems.

sirop ( 2017-01-01 11:44:36 -0500 )edit

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answered 2018-11-11 09:55:17 -0500

Navaneeth
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updated 2018-11-11 09:56:30 -0500

http://docs.ros.org/kinetic/api/movei... folllow the tutorial and run the code Change the panda_arm to your group name and panda_link8 to your last link it will return the dh values and jocobian values