Robotic toolbox 'link' command outputs 5 values, not 4

2015 11 11
1 个回答
更新时间：2017 2 27
10 次查看（30 天）

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Hi all
I am trying to create a robot link:
A= Link ([0 0 0 0], 'modified')
A =
theta=q, d= 0, a= 0, alpha= 0, offset= 0 (R,modDH)
Why when inputting 4 0's I get 5 values back. My rotational link has only 1 variable theta and I thought d is the link offset. Also, if I didn't define the fifth variable why is the system creating it. In all the tutorials people get 4 values back according to DH parameters Please help and thanks for your time Regards Timur

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回答（1 个）

Zhankui Peng
Zhankui Peng 2017-2-27
编辑：Zhankui Peng 2017-2-27

0 个投票

  • Column Symbol Description
  • 1 alphai link twist angle
  • 2 Ai link length
  • 3 sitai link rotation angle
  • 4 Di link offset distance
  • 5 sigmai joint type; 0 for revolute, non-zero for prismatic

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