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Asif Rana

DH parameters for Sawyer

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Hi all,

I need the DH parameters for Sawyer robot for my research project. 

Does anyone out here happen to have it calculated already? 

-Asif 

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Hi Asif,

Please check out the attached table for more info:

joint theta d a alpha
1 q1 0.237 0.081 -1.571
2 q2 0.1925 0 -1.571
3 q3 0.4 0 -1.571
4 q4 -0.1685 0 -1.571
5 q5 0.4 0 -1.571
6 q6 0.1363 0 -1.571
7 q7 0.11 8.08E-07 0

 

Shiwei

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