Skip to content

Latest commit

 

History

History
208 lines (191 loc) · 4.91 KB

dhParams.md

File metadata and controls

208 lines (191 loc) · 4.91 KB

DH parameters of some robots

KUKA-KR 15/2

Parameters

i r d alpha theta
1 0.3 0.675 90.0 0.0
2 0.65 0.0 0.0 -90.0
3 0.155 0.0 90.0 0.0
4 0.0 0.6 -90.0 0.0
5 0.0 0.0 90.0 0.0
6 0.0 0.140 0.0 0.0

Macaulay2 code

  dof := 6;
  alpha := {90.0, 0.0, 90.0, -90.0, 90.0, 0.0};
  r := {0.3, 0.65, 0.155, 0.0, 0.0, 0.0};
  d := {0.675, 0.0, 0.0, 0.0, 0.0, 0.140};
  theta := {0.0, -90.0, 0.0, 0.0, 0.0, 0.0};
  dhParams := {alpha, r, d, theta};

FANUC LR MATE 200IC

Parameters

i r d alpha theta
1 75.0 330.0 -90.0 0.0
2 300.0 0.0 180.0 -90.0
3 -75.0 0.0 90.0 180.0
4 0.0 -320.0 -90.0 0.0
5 0.0 0.0 90.0 0.0
6 0.0 -80 180.0 180.0

Macaulay2 code

  dof := 6;
  alpha := {-90.0, 180.0, 90.0, -90.0, 90.0, 180.0};
  r := {75.0, 300.0, -75.0, 0.0, 0.0, 0.0};
  d := {330.0, 0.0, 0.0, -320.0, 0.0, -80};
  theta := {0.0, -90.0, 180.0, 0.0, 0.0, 180.0}
  dhParams := {alpha, r, d, theta};

ABB 2600

Parameters

i r d alpha theta
1 150.0 445.0 -90.0 0.0
2 900.0 0.0 0.0 -90.0
3 150.0 0.0 -90.0 0.0
4 0.0 -938.0 90.0 0.0
5 0.0 0.0 90.0 180.0
6 0.0 200.0 0.0 0.0

Macaulay2 code

  dof := 6;
  alpha := {-90.0, 0.0, -90.0, 90.0, 90.0, 0.0};
  r := {150.0, 900.0, 150.0, 0.0, 0.0, 0.0};
  d := {445.0, 0.0, 0.0, -938.0, 0.0, 200.0};
  theta := {0.0, -90.0, 0.0, 0.0, 180.0, 0.0}
  dhParams := {alpha, r, d, theta};

UR3e

Parameters

i r d alpha theta
1 0.0 0.15185 90.0 0.0
2 -0.24355 0.0 0.0 0.0
3 -0.2132 0.0 0.0 0.0
4 0.0 0.13105 90.0 0.0
5 0.0 0.08535 -90.0 0.0
6 0.0 0.0921 0.0 0.0

Macaulay2 code

dof := 6;
alpha := {90.0, 0.0, 0.0, 90.0, -90.0, 0.0};
r := {0.0, -0.24355, -0.2132, 0.0, 0.0, 0.0};
d := {0.15185, 0.0, 0.0, 0.13105, 0.08535, 0.0921};
theta := {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
dhParams := {alpha, r, d, theta};

UR5e

Parameters

i r d alpha theta
1 0.0 0.1625 90.0 0.0
2 -0.425 0.0 0.0 0.0
3 -0.3922 0.0 0.0 0.0
4 0.0 0.1333 90.0 0.0
5 0.0 0.0997 -90.0 0.0
6 0.0 0.0996 0.0 0.0

Macaulay2 code

dof := 6;
alpha := {90.0, 0.0, 0.0, 90.0, -90.0, 0.0};
r := {0.0, -0.425, -0.3922, 0.0, 0.0, 0.0};
d := {0.1625, 0.0, 0.0, 0.1333, 0.0997, 0.0996};
theta := {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
dhParams := {alpha, r, d, theta};

UR10e

Parameters

i r d alpha theta
1 0.0 0.1807 90.0 0.0
2 -0.6127 0.0 0.0 0.0
3 -0.57155 0.0 0.0 0.0
4 0.0 0.17415 90.0 0.0
5 0.0 0.11985 -90.0 0.0
6 0.0 0.11655 0.0 0.0

Macaulay2 code

dof := 6;
alpha := {90.0, 0.0, 0.0, 90.0, -90.0, 0.0};
r := {0.0, -0.6127, -0.57155, 0.0, 0.0, 0.0};
d := {0.1807, 0.0, 0.0, 0.17415, 0.11985, 0.11655};
theta := {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
dhParams := {alpha, r, d, theta};

UR16e

Parameters

i r d alpha theta
1 0.0 0.1807 90.0 0.0
2 -0.4784 0.0 0.0 0.0
3 -0.36 0.0 0.0 0.0
4 0.0 0.17415 90.0 0.0
5 0.0 0.11985 -90.0 0.0
6 0.0 0.11655 0.0 0.0

Macaulay2 code

dof := 6;
alpha := {90.0, 0.0, 0.0, 90.0, -90.0, 0.0};
r := {0.0, -0.4784, -0.36, 0.0, 0.0, 0.0};
d := {0.1807, 0.0, 0.0, 0.17415, 0.11985, 0.11655};
theta := {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
dhParams := {alpha, r, d, theta};

UR3

Parameters

i r d alpha theta
1 0.0 0.1519 90.0 0.0
2 -0.24365 0.0 0.0 0.0
3 -0.21325 0.0 0.0 0.0
4 0.0 0.11235 90.0 0.0
5 0.0 0.08535 -90.0 0.0
6 0.0 0.0819 0.0 0.0

Macaulay2 code

dof := 6;
alpha := {90.0, 0.0, 0.0, 90.0, -90.0, 0.0};
r := {0.0, -0.24365, -0.21325, 0.0, 0.0, 0.0};
d := {0.1519, 0.0, 0.0, 0.11235, 0.08535, 0.0819};
theta := {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
dhParams := {alpha, r, d, theta};

UR5

Parameters

i r d alpha theta
1 0.0 0.089159 90.0 0.0
2 -0.425 0.0 0.0 0.0
3 -0.39225 0.0 0.0 0.0
4 0.0 0.10915 90.0 0.0
5 0.0 0.09465 -90.0 0.0
6 0.0 0.0823 0.0 0.0

Macaulay2 code

dof := 6;
alpha := {90.0, 0.0, 0.0, 90.0, -90.0, 0.0};
r := {0.0, -0.425, -0.39225, 0.0, 0.0, 0.0};
d := {0.089159, 0.0, 0.0, 0.10915, 0.09465, 0.0823};
theta := {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
dhParams := {alpha, r, d, theta};

UR10

Parameters

i r d alpha theta
1 0.0 0.1273 90.0 0.0
2 -0.612 0.0 0.0 0.0
3 -0.5723 0.0 0.0 0.0
4 0.0 0.163941 90.0 0.0
5 0.0 0.1157 -90.0 0.0
6 0.0 0.0922 0.0 0.0

Macaulay2 code

dof := 6;
alpha := {90.0, 0.0, 0.0, 90.0, -90.0, 0.0};
r := {0.0, -0.612, -0.5723, 0.0, 0.0, 0.0};
d := {0.1273, 0.0, 0.0, 0.163941, 0.1157, 0.0922};
theta := {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
dhParams := {alpha, r, d, theta};