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.
![](https://prajankya.me/blog/content/images/2020/12/z_axis.png)
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.
![](https://prajankya.me/blog/content/images/2020/12/x_axis.png)
Step 3: Get D-H Parameters
![](https://prajankya.me/blog/content/images/2020/12/params.png)
Now enter the 4 DH parameters into the tool shown below.
link | a | alpha | d | theta | Matrix | |
---|---|---|---|---|---|---|
|
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 IRB120
![](https://prajankya.me/blog/content/images/2020/12/abb_irb120.png)
![](https://prajankya.me/blog/content/images/2020/12/abb_irb120_dh.png)
![](https://prajankya.me/blog/content/images/2020/12/irb_dh_params.png)
Do you want to remove?
Do you want to remove [[link_to_remove_name]]
Confirm to replace all the data?
Demo Example will replace all the links existing in the list.
All the links/data entered in the table
will be removed.
Do you want to continue ?