Hallo allemaal, ik stel de vraag even in het engels ik denk dat dat geen probleem is voor iedereen die een antwoord op mijn vraag zou kunnen hebben:
Hi guys,
I am currently working on writing down the mathematical formulas behind a ABB robot using the Denavit-Hartenberg method.
I have come pretty far using this method but now I have found an error and i don't know how to fix it. I have been looking for a resolution for the past 2 days but have failed to find anything. I (think I) did manage to find the source of the error but if i calculate back from this point to find where the error starts I do not find any useful results.
The calculation is induced in a piece of my paper can be downloaded at :
www.eppler.nl/Problem.pdf
The problem starts at the end of the paper in the red square, at formula (Sin(A_angle)*3/4CEH) (this value is 3/4 of the distance of CEH shown in table 3 on the first page). I think this is the error because this part of the formula should look like this:
COS(A_angle)*3/4CEH*SIN(B_angle+_Bangle)
I really hope you guys can help me,
Thank you all very much in advance!
Johan Antonissen
Voor wie mij wil helpen maar nog even in de stof wil kijken :
www.eppler.nl/DENAVIT-HARTENBERG_CONVENTION.pdf
Bedankt ik hoop dat iemand mij kan helpen!