Algorithm for all kinematic models of NaiweiRobot
注:请留意d4取值的正负。若俯视图如上,d4取正值。
注:零位姿态,需调整J5轴使得法兰面正对底面平面,其他部分与DH参数示意图一致。
注:该机型最终实际按本体4轴+附加2轴处理。
注:a1可以写0。零位姿态,J1不做要求,J2、J3、J4应保证大小臂处于完全竖直且重叠位置。
Algorithm for all kinematic models of NaiweiRobot
License: GNU Affero General Public License v3.0
Algorithm for all kinematic models of NaiweiRobot
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