I can‘t find DH parameter extractor ’models/tools/Denavit Hartenberg parameter extractor.ttm‘.
My version of CoppeliaSim is 4.3.0
Search found 5 matches
- 26 Apr 2022, 18:21
- Forum: General questions
- Topic: can‘t find DH parameter extractor
- Replies: 1
- Views: 1068
- 23 Apr 2022, 17:14
- Forum: General questions
- Topic: The DH parameters of the UR5
- Replies: 3
- Views: 7549
The DH parameters of the UR5
I used the DH extract tool for UR5 in V-rep. I get the following result: ----------------------------------------------------------- Between 'UR5_joint1#0' and 'UR5_joint2#0': d=0.0661 theta=0.1 a=0.0050 alpha=-90.0 ----------------------------------------------------------- But for UR5, the standar...
- 23 Apr 2022, 03:21
- Forum: General questions
- Topic: the dynamic parameters of the robots
- Replies: 5
- Views: 1329
Re: the dynamic parameters of the robots
Thanks for your help I use 'Rigid Body Dynamic Properties --> inertia Matrix& Center of Mass 'to get the inertia and center of mass of every link. When I move the whole manipulator, the inertia of every link won't change but center of mass of every link will change. The inertia of every link is ...
- 22 Apr 2022, 12:08
- Forum: General questions
- Topic: the dynamic parameters of the robots
- Replies: 5
- Views: 1329
Re: the dynamic parameters of the robots
Thanks for your help. The center of gravity may be depicted in the coordinate of world in the shape dynamics dialog. But you know, when constructing a manipulator, we want the center of gravity of every link depicted in every link. And if I change the center of gravity in the shape dynamics dialog, ...
- 21 Apr 2022, 15:49
- Forum: General questions
- Topic: the dynamic parameters of the robots
- Replies: 5
- Views: 1329
the dynamic parameters of the robots
Question1: I want to construct a manipulator in Coppeliasim by Denavit Hartenberg convention. What should I do and how can I add dynamic parameters? such as mass, Center Of Gravity and inertia. Question2: For predefined models in Coppeliasim, if I want to get the dynamic propeties, I can get this vi...