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hdt_setup [2017/05/15 17:44] – [Verification of the DH parameters] sangsinparkhdt_setup [2017/05/19 16:24] (current) – [Matlab Code] sangsinpark
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 | Total | 14 | | 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. First of all, I consider 10 DOFs except the hand's DOFs.
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 {{ hdt_arm:hdt_fig1.jpg }} {{ hdt_arm:hdt_fig1.jpg }}
 \\ \\
 +
 +===== Standard DH parameters of the HDT Arm =====
  
 Standard DH parameters and link lengths are shown in tables. Standard DH parameters and link lengths are shown in tables.
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 ===== Verification of the DH parameters ===== ===== 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 }} {{ hdt_arm:hdt_fig2.jpg }}
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 ==== Matlab Code ==== ==== Matlab Code ====
-<code>+<code java>
 clear, close all clear, close all
  
hdt_setup.1494895455.txt.gz · Last modified: 2017/05/15 17:44 by sangsinpark