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DH-Params-Sixi.txt
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DH-Params-Sixi.txt
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| theta | d | a | alpha
----|-------|-------|-------|-------
J0 | t0+0 |19.7452| 0 | -90°
----|-------|-------|-------|-------
J1 | t1-90 | 0 |35.796 | 0°
----|-------|-------|-------|-------
J2 | t2+0 | 0 |6.4259 | -90°
----|-------|-------|-------|-------
J3 | t3+0 |38.705 | 0 | 90°
----|-------|-------|-------|-------
J4 | t4+0 | 0 | 0 | -90°
----|-------|-------|-------|-------
J5 | t5+0 |3.795 | 0 | 0°
----|-------|-------|-------|-------
// pan shoulder
links.get(0).setLetter("X");
links.get(0).setD(18.8452+0.9);
links.get(0).setTheta(0);
links.get(0).setR(0);
links.get(0).setAlpha(-90);
links.get(0).setRange(-120,120);
links.get(0).maxTorque.set(14.0); //Nm
// tilt shoulder
links.get(1).setLetter("Y");
links.get(1).setD(0);
links.get(1).setTheta(-90);
links.get(1).setR(35.796);
links.get(1).setAlpha(0);
links.get(1).setRange(-170,0);
links.get(1).maxTorque.set(40.0); //Nm
// tilt elbow
links.get(2).setLetter("Z");
links.get(2).setD(0);
links.get(2).setTheta(0);
links.get(2).setR(6.4259);
links.get(2).setAlpha(-90);
links.get(2).setRange(-83.369, 86);
links.get(2).maxTorque.set(14.0); //Nm
// roll ulna
links.get(3).setLetter("U");
links.get(3).setD(29.355+9.35);
links.get(3).setTheta(0);
links.get(3).setR(0);
links.get(3).setAlpha(90);
links.get(3).setRange(-175, 175);
links.get(3).maxTorque.set(3.0); //Nm
// tilt picassoBox
links.get(4).setLetter("V");
links.get(4).setD(0);
links.get(4).setTheta(0);
links.get(4).setR(0);
links.get(4).setAlpha(-90);
links.get(4).setRange(-120, 120);
links.get(4).maxTorque.set(2.5); //Nm
// roll hand
links.get(5).setLetter("W");
links.get(5).setTheta(0);
links.get(5).setD(3.795);
links.get(5).setR(0);
links.get(5).setAlpha(0);
links.get(5).setRange(-170, 170);
links.get(5).maxTorque.set(2.5); //Nm
links.get(6).setLetter("E");
links.get(6).setName("End Effector");
links.get(6).setD(2.75);
links.get(6).flags = LinkAdjust.NONE;