output D-H parameters in Rigid body tree

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Fikry Tan
Fikry Tan 2020년 6월 12일
답변: Yiping Liu 2020년 11월 20일
Hi I'm using matlab 2020a with robotic system toolbox installed.
now I have a robot(Rigidbodytree) imported from a urdf file, how could I get this robot's D-H parameters?
Is there any built-in functions or something like this could be called to get the D-H parameters?

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Yiping Liu
Yiping Liu 2020년 11월 20일
If you import your rigidBodyTree from URDF, in general it cannot be converted to the standard DH representation without alternating the original body frames of the robots.
What is your use case here?

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