DH parameters

[tttt]

What if I want to use the robot toolbox in matlab to build a model that is the same as the robotic arm in vrep so that their end positions are the same after passing in the same joint angle?

[fferri]

The concept of robot configuration aims to conveniently represent a robot as a vector of joint positions.

If the robot geometry is the same (same DH params, same joints ranges & orientation), the same robot configuration vector will describe the same pose both in CoppeliaSim and in Robotics Toolbox.

[Galileo]

Hi

if i have understood you correctly. you are asking whether there is a way to extract the simulation model DH parameters to MATLAB?

i am also a beginer. as for what im familiar with you have:

1. using the application kinematic module:
- choose the last object for your requiered kineatic chain
- at the upper ribon of the 'Coppelia' choose Modules->Kinematics->Denavit-Hartenberg extractor
- all the DH parameters would be displays at the command window

2. using the MATLAB API simxGetObjectGroupData (local position/ orientation) of each simulation joint sim/ object.

it is a good question whether there is a single API function for getting the DH parameters like in the first option.