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--- hdt_setup [2017/05/15 17:39] – sangsinpark
+++ hdt_setup [2017/05/19 16:24] (current) – [Matlab Code] sangsinpark
@@ Line 25: / Line 25: @@
 | Total | 14 |
 \\
-===== Coordinate Frames and DH parameters of the HDT Arm =====
+===== Coordinate Frames of the HDT Arm =====
 First of all, I consider 10 DOFs except the hand's DOFs.
@@ Line 31: / Line 31: @@
 {{ hdt_arm:hdt_fig1.jpg }}
 \\
+===== Standard DH parameters of the HDT Arm =====
 Standard DH parameters and link lengths are shown in tables.
@@ Line 40: / Line 42: @@
 ===== Verification of the DH parameters =====
-I verify the DH parameters with Matlab robotics toolbox. We can download its toolbox from [[http://petercorke.com/wordpress/toolboxes/robotics-toolbox | this website]].
+I verify the DH parameters with a Matlab robotics toolbox. We can download its toolbox from [[http://petercorke.com/wordpress/toolboxes/robotics-toolbox | this website]].
 {{ hdt_arm:hdt_fig2.jpg }}
@@ Line 46: / Line 48: @@
 {{ hdt_arm:hdt_fig3.jpg }}
 \\
+==== Matlab Code ====
+<code java>
+clear, close all
+L1 = 0.1272;
+L2 = 0.08;
+L3 = 0.3638;
+L4 = 0.2495;
+L5 = 0.318;
+L6 = 0.2244;
+L7 = 0.0741;
+L8 = 0.2;
+% Standard DH %
+L(1) = Link([0 L1 0 pi/2]); % L1
+L(2) = Link([0 0 L2 -pi/2]); % L2
+L(3) = Link([0 0 L3 pi/2]); % L3
+L(4) = Link([0 L4 0 -pi/2]); % L4
+L(5) = Link([0 0 0 pi/2]);
+L(6) = Link([0 L5 0 -pi/2]); % L5
+L(7) = Link([0 0 0 pi/2]);
+L(8) = Link([0 L6 0 -pi/2]); % L6
+L(9) = Link([0 0 L7 pi/2]); % L7
+L(10) = Link([0 0 L8 0]); % L8
+hdt_arm = SerialLink(L, 'name', 'HDT ARM');
+hdt_arm.plot([pi pi/2 0 0 -pi/4 0 0 0 -pi/2 0]);
+</code>