Hi! I posted this in general but intended on posting it in questions so re posting here.
I was wondering if you had a kinematics diagram for the AR. I see in the manual that you have some dimensions but I would like to see the distances between the center of every joint J1 ----> J2 ---> J3 ---> J4 ---> J5 ---> j6.
Hello, yes the robots DH parameter's are on line 249 in the sketch:
float DHparams[6][4] = {
{ 0, 0, 169.77, 0 },
{ -90, -90, 0, 64.2 },
{ 0, 0, 0, 305 },
{ 0, -90, 222.63, 0 },
{ 0, 90, 0, 0 },
{ 180, -90, 36.25, 0 }
};
let me know if that is what you needed.
Yup! That is what i was looking for. My kinimatics diagram i based my simulator on is slightly different than yours i think ( see attached image ) but i think i can use these numbers as my v0 - v4 variables. Thanks !
