Hello everyone!
I'm having trouble finding the denavit hartenberg matrix for a 5 DOF robotic arm. The schematic of the robot is on the following link (it was drawn in solidworks):
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. I need the denavit hartenberg table so I can perform simulations on matlab.Everything works fine until i reach join nº4, where it has to rotate around it self, and I am absolutely lost, no idea how to make it rotate the way it must on MatLab.
Here is how i thought the DH table would look like:
Th* L d alfa
0 0 L1 pi/2
0 L2 0 0
0 L3 0 pi/2
0 L4 0 pi/2
0 L5 0 0
*All Th values are variable.
Every joint rotates as it should, except joint number 4, wich has to rotate around itself
Any ideas?
Thank you very much.