From FreeCAD Documentation
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| [[Image:KukaSegment4.jpg]] |
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<math>\theta_{4} = q_{4} </math> |
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<math>d_{4} = -670 mm </math> |
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<math>a_{4} = 0 mm </math> |
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<math>\alpha_{4} = -90</math>° |
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|| Segment 4 |
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| [[Image:KukaSegment5.jpg]] |
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<math>\theta_{5} = q_{5} </math> |
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<math>d_{5} = 0 mm </math> |
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<math>a_{5} = 0 mm </math> |
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<math>\alpha_{5} = 90</math>° |
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|| Segment 5 |
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| [[Image:KukaSegment6.jpg]] |
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<math>\theta_{6} = q_{6} </math> |
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<math>d_{6} = 0 mm </math> |
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<math>a_{6} = -158 mm </math> |
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<math>\alpha_{6} = 180</math>° |
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|| Segment 6 |
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Revision as of 20:00, 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
Kinematic
3D applications
Segment
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Parameter
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Description
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Base konfiguration
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Failed to parse (syntax error): {\displaystyle \alpha_{1} = −90}
°
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Segment 1
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°
°
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Segment 2
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°
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Segment 3
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°
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Segment 4
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°
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Segment 5
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°
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Segment 6
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