hdt_setup
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Table of Contents
How To Move A HDT MK2 Arm
Author: Sangsin Park Email: sangsin.park@unlv.edu
Date: Last modified on 05/15/2017
Keywords: forward and inverse kinematics
The HDT arm has 14 degrees of freedom (DOF). Especially, 3 DOFs, 3 DOFs, 1 DOFs, 3 DOFs, and 4 DOFs are located in a torso, a shoulder, an elbow, a wrist, and a hand, respectively.
BODY PART | DOFs |
---|---|
Torso | 3 |
Shoulder | 3 |
Elbow | 1 |
Wrist | 3 |
Hand | 4 |
Total | 14 |
Coordinate Frames and DH parameters of the HDT Arm
First of all, I consider 10 DOFs except the hand's DOFs.
Standard DH parameters and link lengths are shown in tables.
Verification of the DH parameters
I verify the DH parameters with Matlab robotics toolbox. We can download its toolbox from this website.
hdt_setup.1494895183.txt.gz · Last modified: 2017/05/15 17:39 by sangsinpark