Search found 3 matches

by Valenorf
15 May 2017, 19:53
Forum: General questions
Topic: Forward Kinematic UR5 Matlab
Replies: 6
Views: 5753

Re: Forward Kinematic UR5 Matlab

Ok now seems to be correct, because the first joint position was not 0,0,0, but shifted a little bit in z-direction. So just an initial translation e now everything work. Thank you!
by Valenorf
15 May 2017, 19:34
Forum: General questions
Topic: Forward Kinematic UR5 Matlab
Replies: 6
Views: 5753

Re: Forward Kinematic UR5 Matlab

Hello, you have to add another joint at the base of the manipulator (i.e. at the exact position where your robot's origin is), just before extracting the DH parameters. Cheers I inserted it, but the first row of the dh-table is a bunch of zeros. As francofusco said, seems to be missed the last fram...
by Valenorf
15 May 2017, 13:59
Forum: General questions
Topic: Forward Kinematic UR5 Matlab
Replies: 6
Views: 5753

Forward Kinematic UR5 Matlab

Hi, i have a problem trying to solve the direct kinematic using matlab, for the given model. I want to calculate it symbolically, through the transformation given by the homogeneous matrices. I used the DH extract tool for V-rep, but i can't understand why it gives me only 5 rows of the dh-table(the...