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Thread: Denavit–Hartenberg parameters

  1. #1
    Associate Engineer
    Join Date
    Sep 2014
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    1

    Denavit–Hartenberg parameters

    hi,
    someone who know DH convention?
    it's a 4R manipulator; I have set the frames following DH rules, they should be right

    is this DH table of parameters rigth?
    Link_i theta_i d_i a_i alpha_i
    1 q1 0 L1 0
    2 q2 0 L2 0
    3 q3 -M -N +90°
    4 q4 L3 N 0
    thanks
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  2. #2
    Administrator Kelly Bramble's Avatar
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    Feb 2011
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    Bold Springs, GA
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    Last edited by Kelly Bramble; 09-26-2014 at 02:37 PM.

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