How to use DH parameter extractor.ttm?
Posted: 09 Mar 2021, 04:54
I'm using DH parameter extractor.ttm to extract the DH parameter of Sawyer.ttm. The joint angles are all set to be 0. However, when clicking the joint 1 and joint 2, the popped console gives me different results:
which makes me confused. (1) Why the parameters of 'Sawyer_joint2' and 'Sawyer_joint3' (and some of others) change? (2) Where are the zero joint angles I set in advance? Is the 'theta' in the console actually the 'offset' of DH parameter?
And if you are willing to, (3) could you please provide me the right DH parameter of Sawyer.ttm?
Cheers
Code: Select all
Between 'Sawyer_joint1' and 'Sawyer_headJoint':
d=0.0000
theta=0.0
a=0.0000
alpha=0.0
Between 'Sawyer_joint1' and 'Sawyer_joint2':
d=0.2305
theta=-12.7
a=0.0830
alpha=-90.0
Between 'Sawyer_joint2' and 'Sawyer_joint3':
d=0.1829
theta=180.0
a=0.1470
alpha=77.3
Between 'Sawyer_joint3' and 'Sawyer_joint4':
d=0.0276
theta=166.0
a=0.5026
alpha=77.6
Between 'Sawyer_joint4' and 'Sawyer_joint5':
d=-0.1829
theta=3.7
a=0.0159
alpha=90.9
Between 'Sawyer_joint5' and 'Sawyer_joint6':
d=0.0046
theta=-0.9
a=0.3811
alpha=-90.9
Between 'Sawyer_joint6' and 'Sawyer_joint7':
d=0.1359
theta=179.3
a=0.0113
alpha=90.1
Between 'Sawyer_joint7' and 'BaxterGripper_centerJoint':
d=0.0001
theta=-179.9
a=0.2629
alpha=-89.9
Between 'BaxterGripper_centerJoint' and 'BaxterGripper_closeJoint':
d=0.0000
theta=0.0
a=0.0000
alpha=0.0
Code: Select all
Between 'Sawyer_joint2' and 'Sawyer_joint3':
d=0.1315
theta=89.8
a=0.0189
alpha=90.0
Between 'Sawyer_joint3' and 'Sawyer_joint4':
d=0.0011
theta=180.0
a=0.4188
alpha=90.0
Between 'Sawyer_joint4' and 'Sawyer_joint5':
d=-0.1685
theta=0.3
a=0.0163
alpha=90.0
Between 'Sawyer_joint5' and 'Sawyer_joint6':
d=0.0008
theta=-0.0
a=0.3837
alpha=-90.0
Between 'Sawyer_joint6' and 'Sawyer_joint7':
d=0.1363
theta=179.9
a=0.0117
alpha=90.0
Between 'Sawyer_joint7' and 'BaxterGripper_centerJoint':
d=0.0000
theta=180.0
a=0.2631
alpha=-90.0
Between 'BaxterGripper_centerJoint' and 'BaxterGripper_closeJoint':
d=0.0000
theta=0.0
a=0.0000
alpha=0.0
And if you are willing to, (3) could you please provide me the right DH parameter of Sawyer.ttm?
Cheers