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Questions about D-H parameters

Posted: 02 Jan 2020, 14:53
by gexiangjun
I am preparing a model of the robotic arm resume. The model is derived from ABB IRB140 in the model library. Then I am going to use the standard DH tool to extract the parameters, but I do n’t know what standards you use to extract it. At the fourth and fifth joints of the arm, I found it unusable, because of the problem of the joint coordinate system, so I want to ask if there is any way to get me the correct parameters,Can I change the coordinate system of the joints in the model?