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Hi, I'm come from Xi'an Jiaotong-Liverpool University,our laboratory has acquired a robotic arm(kr10 r1100-2). I can't find 3dm and xml file in the library of it. So I'm trying to writting about xml file about it, but I can't work out the DH parameters for this robot, so I'm stuck here. Can somebody help me with it asasp. Thanks a lot. |
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You can search the existing libraries using the GitHub search on the top. The the The DH parameters represent offsets between joints (distances). You can check by comparing the values between the xml file above and the dimensions in the drawing of this spec sheet. |
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You can search the existing libraries using the GitHub search on the top. The the
Taiwan.xmlfile seems to have this robot: https://github.com/visose/Robots/search?q=KUKA+kr10The DH parameters represent offsets between joints (distances). You can check by comparing the values between the xml file above and the dimensions in the drawing of this spec sheet.