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cos (Ө) − cos (α) SEN (Ө)

The document contains the Denavit-Hartenberg (DH) parameters for a 6 degree of freedom robot arm. It lists the theta, d, a, and alpha values for each joint as well as additional parameters like link lengths, twist angles, and the resulting transformation matrices from the base to each link.

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Tony Orphic Datf
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36 views

cos (Ө) − cos (α) SEN (Ө)

The document contains the Denavit-Hartenberg (DH) parameters for a 6 degree of freedom robot arm. It lists the theta, d, a, and alpha values for each joint as well as additional parameters like link lengths, twist angles, and the resulting transformation matrices from the base to each link.

Uploaded by

Tony Orphic Datf
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Tabla de parmetros de DENAVIT- HARTENBERG(DH)

ARTICULACIO D A Q
N
1
2
3

cos ()
cos( )SEN ()

Acos()

ROBOT

g1 = 90

g2 = 0

g3 = -90

g4 = -90

g5 = 90

g6 = -90

d1 = 1

d2 = 3

d3 = 1

d4 = 1

d5 = 1

d6 = 1

a1 = 3

a2 = 0

a3 = 0

a4 = 0

a5 = 0

al1 =45

al2 = 200

al3 = 45

al4 = 230
al5 = 300

al6 = 45

a6 = 3

e1 =

-0.4481 0.4006 0.7607 -1.3442

0.8940 -0.2354 0.3813 2.6820

0 0.8509 0.5253 1.000

0 0 0 1.0000

e2 =

1.0000 0 0 0

0 0.4872 0.8733 0

0 -0.8733 0.4872 3.0000

0 0 0 1.0000

e3 =

-0.4481 -0.4006 -0.7607 0

-0.8940 -0.2354 0.3813 0

0 0.8509 0.5253 1.0000

0 0 0 1.0000

e4 =

-0.4481 -0.4006 0.5508 0

-0.8940 0.3529 -0.2760 0

0 -0.6161 -0.7877 1.0000

0 0 0 1.0000
e5 =

-0.4481 0.4006 -0.8938 0

0.8940 0.0099 -0.4480 0

0 -0.9998 -0.0221 1.0000

0 0 0 1.0000

e6 =

-0.4481 -0.4006 -0.7607 -1.3442

-0.8940 -0.2354 0.3813 -2.6820

0 0.8509 0.5253 1.0000

0 0 0 1.0000

pociondelefectorfinal =

-0.0197 0.8554 0.3443 2.9013

0.4563 -0.3229 -0.6868 4.6390

-0.4164 0.4167 0.2458 2.9462

0 0 0 1.0000

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