How to find inverse kinematics given D-H parameters?
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Hello world!
I have these D-H parameters and I want to find the inverse kinematics.
I have found the final pose of end-effector by hand through homogeneous transformations.
How can I do that?
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/473983/image.png)
Thanks in advance!
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Accepted Answer
Ameer Hamza
on 30 Dec 2020
First create a rigidBodyTree from dh parameters: https://www.mathworks.com/help/robotics/ref/rigidbodyjoint.setfixedtransform.html and then use inverseKinematics(): https://www.mathworks.com/help/robotics/ref/inversekinematics-system-object.html function.
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Ameer Hamza
on 2 Jan 2021
You need to put constant values for l1, l2, ..., l7. Symbolic variables will not work here.
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