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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

hdt_mk2_arm.jpg
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.

hdt_fig1.jpg

Standard DH parameters and link lengths are shown in tables. hdt_tab1_dh.jpg
hdt_tab2_length.jpg

Verification of the DH parameters

I verify the DH parameters with Matlab robotics toolbox. We can download its toolbox from this website.

hdt_fig2.jpg
hdt_fig3.jpg

hdt_setup.1494895183.txt.gz · Last modified: 2017/05/15 17:39 by sangsinpark