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petercorke / robotics-toolbox-python

Robotics Toolbox for Python
MIT License
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Can robotics toolbox for python model a robotic manipulator like the ABB IRB 460? #346

Closed freireguilherme closed 1 year ago

freireguilherme commented 1 year ago

I am currently doing a project in which I would like to investigate the kinematics and dynamics of the ABB IRB 460 model. Can the RTP model this type of robotic arm? image

jhavl commented 1 year ago

Hey @freireguilherme, yes this robot can be modelled using the toolbox. It can be added as a DH model, and ETS model, or as a URDF. After finding the kinematic details you can create one of these model types using the toolbox.

freireguilherme commented 1 year ago

Hey @jhavl, thank you for the response! Ok, I'm trying to add this model as a DH model. I have now the DH parameters. But how can I describe the passive joins and links? I mean, how to put the passive joins and links conected with the active joins and links?