Robot 6-Axis: Difference between revisions
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| [[Image:KukaSegment1.jpg]] |
| [[Image:KukaSegment1.jpg]] |
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<math>\theta_{1} = q_{1}</math> |
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Omega1 = q1 |
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<math>d_{1} = 675 mm </math> |
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<math>a_{1} = 260 mm </math> |
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<math>\alpha_{1} = −90</math>° |
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|| Segment 1 |
|| Segment 1 |
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| [[Image:KukaSegment2.jpg]] |
| [[Image:KukaSegment2.jpg]] |
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Omega2 = q2 - 90° |
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<math>\theta_{2} = q_{2} - 90</math>° |
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d2 = 0 mm |
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<math>d_{2} = 0 mm </math> |
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<math>a_{2} = 680 mm </math> |
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Alpha3 = 0° |
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<math>\alpha_{2} = 0</math>° |
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|| Segment 2 |
|| Segment 2 |
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| [[Image:KukaSegment3.jpg]] |
| [[Image:KukaSegment3.jpg]] |
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Omega3 = q3 |
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<math>\theta_{3} = q_{3} </math> |
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d3 = 0 mm |
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<math>d_{3} = 0 mm </math> |
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<math>a_{3} = 0 mm </math> |
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<math>\alpha_{3} = 90</math>° |
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|| Segment 3 |
|| Segment 3 |
Revision as of 19:53, 19 September 2009
This Article is about bringing a Standard 6-Axis industry robot into FreeCAD for simulation
The description follows the Denavit-Hartenberg Parameter system, as also described in John J. Craigs book "Introduction to Robotics".
Example Kuka