02-24-2022, 10:46 AM
Good morning. I am running a simulation with the KUKA KR 60-3 robot, my aim is to calculate the direct kinematics so that I can monitor the position, speed and acceleration of the end-effector during the robot movements. To do this, I have created a Matlab code that exploits the robot's DH parameters. The problem is that with the DH parameters of the robot that are on RoboDK, the calculated position is not the same as the one on RoboDK. The code and the Denavit-Hartenberg transformation matrices are correct. What are the correct DH parameters for this robot? Thank you. Kind regards