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Direct and inverse kinematics

Hello,

I'm trying to calculate direct and inverse kinematics of the robot. For that, I need denavit-Hartenberg parameters.

I searched on the site but I did not find anything.

Has someone already calculated them or is it already provided by the site and I have not seen ?

Thanks for your response.

Hi Vincent,

All the dimensions required for calculating inverse kinematics are provided on the robot page: https://dorna.ai/robot/

I'm not familiar with denavit-Hartenberg parameters, but you should be able to infer them from the dimensions of the arms.

There are also two helper functions in API called _joint_to_xyz() and _xyz_to_joint() that do forward and inverse kinematics calculations for API calls. You can see the way we have implemented them here: https://github.com/dorna-robotics/dorna/blob/master/dorna/api.py

Hope it helps.

Sadegh