This tool helps in calculating Transformation matrices often required when working on Serial Robots for kinematics/control/dynamics. It uses the most common method of representing joints and links, i.e. DH parameters. Please follow along the steps to use it for your application.
Step 1: Define Z Axis
Choose zi along the axis of motion of the i+1th link.
Go along all the Joints in the Robot and define Z axis for each joint as shown above.
Step 2: Define X Axis
Choose xi such that it is the shortest vector between zi-1 and zi.
Step 3: Get D-H Parameters
Now enter the 4 DH parameters into the tool shown below.
Step 4: Get Transformation matrix
Use this Transformation matrix to calculate Inverse and Forward Kinematics.
T = [[l.name]] *
T = (I)
More Info about Demo Robot
The Example DH parameters are for ABB IRB120The Robot and the images related to it are courtesy of abb.com website and are used here as reference only.
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Demo Example will replace all the links existing in the list.
All the links/data entered in the table will be removed.
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