From FreeCAD Documentation
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
|
Parameter
|
Description
|
|
|
Base konfiguration
|
|
Omega1 = q1
d1 = 675 mm
a1 = 260 mm
Alpha1 = −90°
|
Segment 1
|
|
Omega2 = q2 - 90°
d2 = 0 mm
a2 = 680 mm
Alpha3 = 0°
|
Segment 2
|
|
Omega3 = q3
d3 = 0 mm
a3 = 0 mm
Alpha3 = 90°
|
Segment 3
|