Fwd: DH parameters of IRB 660

Submitted by jlz on Mon, 2013-06-03 00:59

I am a novice in orocos.

I want to simulate IRB 660(ABB Palletizing robot) with KDL.but I can't find
out the DH parameters .

This robot is not a typical chain structure. how can I find out the DH
parameters?Could KDL deal with it?

thx a lot.

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Fwd: DH parameters of IRB 660

Submitted by __jf on Mon, 2013-06-10 08:44.

> I want to simulate IRB 660(ABB Palletizing robot) with KDL.but I can't
> find out the DH parameters .This robot is not a typical chain structure.
> how can I find out the DH parameters?
>

I suggest you download the ROBCAD sim file:
http://search.abb.com/library/ABBLibrary.asp?DocumentID=irb660_-_m2004_r...

I'm using KDL for ABB robots too and am working with 6620, 6400 ( with /
without track ), 6600.

You'll find the file that stores the DH params in there: ".dh"

> Could KDL deal with it?
>

Yep.
You'll model the parallelograms though.

-jelle

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