March 15, 2024

 

On the application and programming side of life we rarely, if ever, need to know anything about DH parameters on a robot. The robot controller does the homegeneous transformation matrix calculations for us, and we think that's just incredible. We had to do the calculations by hand for 4-axis robot during a comprehensive exam. For motion between two points.

To make this calculation by hand for similar reach, same number of axes, which joint configuration would you choose?