Unit 6 Project Baisc Arm Kinematics

In the Given project of Ur3, from the dh table,

  1. create transformation matrix general as given in solution?

  2. if yes the T3_4 matrix is showing d3 while it is zero in dh table? iimage attached

  3. Dh values have to be use in Homogenous transformation matrix?


Yeah, ifd3 is 0 then it really doesn’t matter if yo put it or not. Once you have it you can replace it by zero. As you wish.

  1. Yeah, DH is based on Homogeneous matrix

Thanks you for your help. :slight_smile: