The project was aimed to understand DH parameters using snake gaits. To Model & simulate the basic snake kinematic model consisting of 10 links with vertical & horizontal actuators using DH parameterization.
- Taking head as a zeroth link, preparing the DH parameter table for all the links.
- Finding all the DH transformation matrices.
- Finding co-ordinates of each actuator and vary the actuator angles as per given gait equations.
- Plotting the obtained coordinate arrays.