| i |
d |
theta |
a |
alpha |
|
1
|
d1 |
q1
|
0 |
90
|
|
2
|
0
|
q2
|
a2 |
0
|
|
3
|
0
|
q3
|
a3
|
-90
|
|
4
|
0 |
q4
|
0
|
90
|
|
5
|
0
|
q5
|
0
|
-90
|
|
6
|
d6=0 |
q6
|
0
|
0
|
|
|
|
|
|
|
I am currently working on 6 dof spherical wrist robotic arm controling on Labview Robotics Module. Labview has a few types of 6R arms with analytical inverse kinematics solver and their DH parameters are given in NI site. I have tested my arm using Matlab toolbox analytical solver before using Labview. However, due to difference with my DH parameters, non of the pre-defined type of arms matchs with my robot. I tried 6R type 1 for analytical solver by getting my dh parameters from DH Arm model that I created in robot builder. I get problem with rotation control because of the inverse kinematics solver and the end-effector position changes while rotating the end-effector. How can I create a healthy inverse kinematics solution for my robotic arm in Labview? I am attaching my file as well.
Thank you
Teoman
