output D-H parameters in Rigid body tree

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Fikry Tan
Fikry Tan il 12 Giu 2020
Risposto: Yiping Liu il 20 Nov 2020
Hi I'm using matlab 2020a with robotic system toolbox installed.
now I have a robot(Rigidbodytree) imported from a urdf file, how could I get this robot's D-H parameters?
Is there any built-in functions or something like this could be called to get the D-H parameters?

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Risposte (1)

Yiping Liu
Yiping Liu il 20 Nov 2020
If you import your rigidBodyTree from URDF, in general it cannot be converted to the standard DH representation without alternating the original body frames of the robots.
What is your use case here?

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