Unit 6 Project Baisc Arm Kinematics

Course Support Basic Arm Kinematics
1

Hello!
In the Given project of Ur3, from the dh table,

  1. create transformation matrix general as given in solution?

  2. if yes the T3_4 matrix is showing d3 while it is zero in dh table? iimage attached

    tranformation matrix
    tranformation matrix1600×900 183 KB

  3. Dh values have to be use in Homogenous transformation matrix?
    Thnaks

2

Hi,

Yeah, ifd3 is 0 then it really doesn’t matter if yo put it or not. Once you have it you can replace it by zero. As you wish.

  1. Yeah, DH is based on Homogeneous matrix
3

Thanks you for your help. :slight_smile: