====== How To Move A HDT MK2 Arm ======
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**Author:** Sangsin Park Email: <sangsin.park@unlv.edu> <!-- replace with your email address -->
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**Date:** Last modified on 05/15/2017
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**Keywords:** forward and inverse kinematics
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{{ hdt_arm:hdt_mk2_arm.jpg }}
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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 |
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===== Coordinate Frames of the HDT Arm =====

First of all, I consider 10 DOFs except the hand's DOFs.

{{ hdt_arm:hdt_fig1.jpg }}
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===== Standard DH parameters of the HDT Arm =====

Standard DH parameters and link lengths are shown in tables.
{{ hdt_arm:hdt_tab1_dh.jpg }}
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{{ hdt_arm:hdt_tab2_length.jpg }}
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===== Verification of the DH parameters =====

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 }}
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{{ hdt_arm:hdt_fig3.jpg }}
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==== 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>