I am currently working on implementing the analytical inverse kinematics calculation for a CRB1500 GOFA robot using PyBullet and compas_fab. As part of this process, I am examining the implementation of the analytical inverse kinematics in compas_fab. It seems that this implementation requires the input of Denavit–Hartenberg (DH) parameters. Could you please confirm if these parameters are available for the GOFA robot? If not, do you mind directing me to related materials or information? Thank you!
Hi! We don’t have the DH params of the GoFa, and as far as I know, ABB does not release that information either. They would need to be calculated, but I am not familiar with the process though.
Cheers
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@Jingwen_Wang this package might be helpful:
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Hello,
most likely this issue is already solved, but in case anyone else still needs this info, here you can find DH parameters for the 3 GoFa models.
Best,
Marco