Rigid body tree D-H parameters

Question

SOREL 2018-6-17

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/406004-rigid-body-tree-d-h-parameters

回答： SOREL 2018-6-23

Hi I'm using matlab 2016/2017 with robotic toolbox installed. I've followed all the tutorials to learn how to use the RigidBody class. However, when I try to build my own rigid body tree it seems that something is wrong with my frames orientations. I don't know exactly how the DH parameter alpha for my third joint is not taken into account I've attached a picture of my kinematic diagram and a sample of my code. If somebody can help.

Thanks

if true
d67 = 0 ; %317.56 ;
alpha67 = 62*pi/180 ;
r67 = 0 ;
d78 = 0 ; % -53.03 ;
alpha78 = 17*pi/180 ;
r78 = 0 ; %172.23 ; 
d89 = 0 ; %343.18 ;
r89 = 0 ; %38.74 ;
r910 = 0 ; % 211.5 ;
r1011 = 0 ; %334.95 ;
theta1112 = 65.98*pi/180 ;
r1112    = 0 ; % 10
dEe      = 0 ; %100 ;
%   DH  = [  r_n  alpha_n  d_n  theta_n]
DHparams = [0      alpha67    0       0;
          r78    alpha78    d78     0;
          r89    -pi/2      d89     0;
          r910   0          0       0;
          r1011  0          0       0;
          r1112  -pi/2      0       theta1112;
          0      0          dEe     0];
body1 = robotics.RigidBody('body1') ;        % create the first body
jnt1 = robotics.Joint('jnt1','revolute');    % initial joint fixed to base
setFixedTransform(jnt1,DHparams(1,:),'dh') ; % 
body1.Joint = jnt1;
Rcm = robotics.RigidBodyTree;
addBody(Rcm,body1,'base') ;
body2  = robotics.RigidBody('body2');
body3  = robotics.RigidBody('body3');
body4  = robotics.RigidBody('body4');
body5  = robotics.RigidBody('body5');
body6  = robotics.RigidBody('body6');
Endeff = robotics.RigidBody('endeffector');
jnt2 = robotics.Joint('jnt2','revolute');
jnt3 = robotics.Joint('jnt3','revolute');
jnt4 = robotics.Joint('jnt4','revolute');
jnt5 = robotics.Joint('jnt5','revolute');
jnt6 = robotics.Joint('jnt6','prismatic');
jnt3.JointAxis(3) ;
setFixedTransform(jnt2,DHparams(2,:),'dh');
setFixedTransform(jnt3,DHparams(3,:),'dh');
setFixedTransform(jnt4,DHparams(4,:),'dh');
setFixedTransform(jnt5,DHparams(5,:),'dh');
setFixedTransform(jnt6,DHparams(6,:),'dh');
setFixedTransform(Endeff.Joint,DHparams(7,:),'dh');
body2.Joint = jnt2;
body3.Joint = jnt3;
body4.Joint = jnt4;
body5.Joint = jnt5;
body6.Joint = jnt6;
addBody(Rcm,body2,'body1')
addBody(Rcm,body3,'body2')
addBody(Rcm,body4,'body3')
addBody(Rcm,body5,'body4')
addBody(Rcm,body6,'body5')
addBody(Rcm,Endeff,'body6')
show(Rcm);
axis on
view([90.000 0.000])
end