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Orientation of first DOF in DH parameters #435

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paul218 opened this issue May 4, 2024 · 0 comments

paul218 commented May 4, 2024

Hello, I need to calculate several points using different robot installations, and the same world reference frame as shown in the next picture:

How can I set up the orientation or the first joint to use the same DH matrix?
Or Do I need to recalculate the DH using another reference system?

For example, the DH of the UR5e in horizontal installation is the next:

If I need to change the robot installation to vertical and the world reference frame is the same.

What changes Do I need?

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