Steps to complete the project:
1. Run the forward_kinematics demo and evaluate the kr210.urdf.xacro file to perform kinematic analysis of Kuka KR210 robot and derive its DH parameters.
You can get the schematic of the KUKA KR210:
Then you can label joints from 1 to n, define joints axes and labes links from 0 to n.
Define common normals and reference frame origins.
Reading kr210.urdf.xacro file, you can get parameters as follow:
2. Using the DH parameter table you derived earlier, create individual transformation matrices about each joint. In addition, also generate a generalized homogeneous transform between base_link and gripper_link using only end-effector(gripper) pose.
| Links | alpha(i-1) | a(i-1) | d(i-1) | theta(i) |
|---|---|---|---|---|
| 0->1 | 0 | 0 | 0.75 | qi |
| 1->2 | - pi/2 | 0.35 | 0 | -pi/2 + q2 |
| 2->3 | 0 | 1.25 | 0 | q3 |
| 3->4 | -pi/2 | -0.054 | 1.5 | q4 |
| 4->5 | pi/2 | 0 | 0 | q5 |
| 5->6 | -pi/2 | 0 | 0 | q6 |
| 6->EE | 0 | 0 | 0.303 | 0 |
**Note: There are difference between the gripper reference frame as defined in the urdf versus the DH tables. You need to compensate it later.
3. Decouple Inverse Kinematics problem into Inverse Position Kinematics and inverse Orientation Kinematics; doing so derive the equations to calculate all individual joint angles.
And here's where you can draw out and show your math for the derivation of your theta angles.
