DH notation of Motoman MA1400

This is the DH notation of the single robot arm as used in Clopema project.

ALPHA = 1; A = 2; THETA = 3; D = 4;
% alpha, a , theta, d
DH = [-pi/2,       pi,   -pi/2,   pi/2,     pi/2,   0;...   
        150,      614,     200,      0,       30,   0;...   
          0,   3*pi/2,       0,      0,   3*pi/2,   0;...   
        450,        0,       0,   -640,        0, 200 ]';

MotomanMA1400.pdf (606 KB) Vladimir Smutny, 02/21/2013 10:30

MotomanMA1400.txt Magnifier (169 KB) Vladimir Smutny, 02/21/2013 10:30

dh_ros.zip - Coordinate systems in the ROS (1.11 MB) Vladimir Petrik, 02/25/2013 12:05

pulse2deg.pdf (93.9 KB) Vladimir Smutny, 05/10/2013 17:37

MA1400drawingaxis.pdf - Figure with the single arm MA1400 axes description (124 KB) Vladimir Smutny, 11/13/2013 17:00

ClopemaCS1.pdf - Coordinate systems of Clopema dual arm robot (20.8 KB) Vladimir Smutny, 11/13/2013 17:08