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ROBOTIS-GIT / ROBOTIS-MANIPULATOR-H

ROS packages for the ROBOTIS MANIPULATOR-H
http://emanual.robotis.com/docs/en/platform/manipulator_h/introduction/
Apache License 2.0
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ROBOTIS-MANIPULATOR-H Documentation #31

Closed santdiego closed 5 years ago

santdiego commented 5 years ago

Hi. There is probably a problem with the documentation of the Robotis Manipulator H. First of all, the Denavit Hartemberg table is not very clear and may be incorrect. What do you mean by "DXL Angle"? . In the "6.6 Mass Property" section, the COG z-position of some links exceeds the length of the link.

yhna commented 5 years ago

Hello, @santdiego First, There is a 135 degree rotation on the 3 joint as in "1.6 home position". Because of this, the origin angle of dxl is rotated. Second, In the "6.6 Mass Property" section, the COG z-position is based on the "6.6.1 Coordinate".

yhna commented 5 years ago

This issue will be closed since there were no actions for a while. You can reopen this issue to show this issue to the users whenever. Thanks.