有大神知道机器人IRB1410的DH参数表吗？急需

d

dd

你是工业机器人实验室的？

这个没人有

楼主现在有了吗？可以分享一下吗

Design, simulation, and analysis of a 6-axis robot using robot visualization software
Kinematics Analysis and Simulation of ABB Robot Based on MResearch on robot kinematic calibration based on hand-eye vision and distance error model
六自由度工业机器人本体标定实验的研究
Research on robot kinematic calibration based on hand-eye vision and distance error model
这些论文里有ABB1410参数
不知道对不对

1410_Robot:: 6 axis, D-H model parameters
+---+-----------+-----------+-----------+-----------+-----------+
| j | theta | d | a | alpha | offset |
+---+-----------+-----------+-----------+-----------+-----------+
| 1| q1| 475| 0| 0| 0|
| 2| q2| 0| 150| -1.5708| 0|
| 3| q3| 0| -600| 0| 0|
| 4| q4| 720| -120| 1.5708| 0|
| 5| q5| 0| 0| -1.5708| 0|
| 6| q6| 85| 0| 1.5708| 0|
+---+-----------+-----------+-----------+-----------+-----------+

论文《Design, simulation, and analysis of a 6-axis robot using robot visualization software》ABB1410的参数看着比较正确