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The DH parameters, if needed, should be straightforwardly derivable from the information provided in the manuals and/or available CAD models. However, as @gavanderhoorn they will not necessarily correspond to the values in the urdf's. I checked the kr5_arc_macro.xacro with the Kuka manual and everything is in agreement.
Closing this as it is not an issue. Please post elsewhere for general questions (i.e., help with DH).
Hey there,
I would like to know the dh table of the kr5_arc. What I found here:
https://github.com/petercorke/robotics-toolbox-matlab/blob/master/mdl_KR5.m
was:
% theta d a alpha
L(1) = Link([0 0.4 0.18 pi/2]);
L(2) = Link([0 0.135 0.60 pi]);
L(3) = Link([0 0.135 0.12 -pi/2]);
L(4) = Link([0 0.62 0 pi/2]);
L(5) = Link([0 0 0 -pi/2]);
L(6) = Link([0 0 0 0]);
## But I think this kuka_kr5_arc does not have the 0.135 in link2 and link3 or?
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