DH-Table-Solver

Introduction

This tool facilitates solving for Transformation Solutions using the Denavit-Hartenberg (DH) Convention. Given DH Table parameters ([\theta, \alpha, r, d]) for each ( (n,n+1) ) frame interaction, you can derive the ( H(n,n+1) ) matrix. Multiplying all of these matrices in the same order as their frame interactions will yield the resultant Transformation Solution.

DH Parameters

• (\theta): Rotation needed in the ( (n-1) ) frame in the ( Z_{n-1} ) direction to align with the ( X ) axis.
• (\alpha): Rotation needed in the ( (n-1) ) frame in the ( X_{n} ) direction to align with the ( Z ) axis.
• ( r ): Distance between the centers of the ( (n-1) ) and the ( (n) ) frame in the ( X_{n} ) direction.
• ( d ): Distance between the centers of the ( (n-1) ) and the ( (n) ) frame in the ( Z_{n-1} ) direction.

Instructions

1. Generate the frames according to the rules of the Denavit-Hartenberg Convention and label them accordingly.
2. Generate the DH Table values between each ( (n-1,n) )th frame following the mentioned rules.
3. Generate a matrix as shown below:

4. Create a variable holding the entire table values in the order ([\theta, \alpha, r, d]).
5. Start by creating symbolic variables.

6. Create the matrix, preferably converting all values to radians unless they are already numeric.

7. Enter the matrix and angle type as 'r' in the DH_HTM() function. Make sure to download all the necessary functions mentioned for this to work.

8. Cheers! You've successfully solved for the Transformation Solutions.