Hello, my internet has been down for two weeks and I have had a lot of studying to do. To answer your question, I will refer to a guide for assigning DH parameters, I will include an example procedure in the library description when I am done. I will also move the library to another repository that is more official.
What is left to do is:
- Comment code
- Improve efficiency of numerical IK (Will take reference from Peter Corke's Robotics Toolbox)
- Make a more user-friendly interface
- Create library description for repo
- Test for various robotic manipulators, make sure it is consistent
Denavit-Hartenberg Reference Frame Layout:
