This repository contains a solution for the kinematic forward problem of a 6-axis collaborative robot's DH-model. The goal of this project is to calculate the end-effector position in the Cartesian coordinate system.
The project involves implementing an algorithm to solve the kinematics problem for a DH-model 6-axis collaborative robot. The goal of this project is to calculate the end-effector position in the Cartesian coordinate system. The DH parameters for the robot's joints are provided in the table below:
| Joint | theta (deg) | a (m) | d (m) | alpha (rad) |
|---|---|---|---|---|
| Joint 0 | 10 | 0 | 0.21 | π/2 |
| Joint 1 | -50 | -0.8 | 0.193 | 0 |
| Joint 2 | -60 | -0.598 | -0.16 | 0 |
| Joint 3 | 90 | 0 | 0.25 | π/2 |
| Joint 4 | 50 | 0 | 0.25 | -π/2 |
| Joint 5 | 0 | 0 | 0.25 | 0 |
The algorithm for solving the forward kinematics problem can be described in English as follows:
- Initialize the joint angles or joint variables of the robot arm.
- Define the transformation matrices for each link of the robot arm.
- Create a transformation chain by multiplying the transformation matrices from the base link to the end effector.
- Apply the Denavit-Hartenberg (DH) parameters for each link to calculate the transformation matrix.
- Calculate the position and orientation of the end effector based on the final transformation matrix.
- Display or use the obtained end effector position and orientation as required.
The project can be compiled and executed on a Linux operating system. The recommended programming languages for implementation are C for console applications.
To compile and run the console application:
make clean && make
make run- GCC (for C implementation)
- Run the compiled executable.
- Input the desired theta.
- The algorithm will calculate and display end-effector position for the robot.
This project is licensed under the MIT LICENSE.