CODEWITHSUNDEEP
roboticsservorobot
Joad
Joad

Reputation: 1

Finding DH parameters for robot arm

I am new in robotics. I'm using ikpy to control a 6 servo robot using forward and inverse kinametic. The robot moves along x, y, and z as desired. However, there are two issues: 1- the robot moves a distance less than required, for example 7 cm along the X-axis when asked it to move 10 cm. 2- changing the orientation leads to the robot's coordinates to change. the DH table, as I figure out from the provided image:

dlist      = [389, 0, 0, 335, 0, 0];
alist      = [40, 335, 40, 0, 0, 0];
alphalist  = [-np.pi/2, 0, -np.pi/2, np.pi/2, -np.pi/2, 0]
thetalist = [0, -np.pi/2, 0,0,-np.pi/2, np.pi]

where is the problem? robot arm

solving the problem of finding the DH table for the robot arm

Upvotes: 0

Views: 49

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