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DH parameters
Posted: 06 Apr 2024, 12:42
by 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?
Re: DH parameters
Posted: 08 Apr 2024, 08:16
by 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.
Re: DH parameters
Posted: 21 Apr 2024, 20:38
by 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.