DH-Based Forward Kinematics Model
Budget: £10 – £20 GBP
I have a custom 3-DOF robot that will be mounted for a niche cleaning duty, and I need its forward kinematics fully mapped using Denavit-Hartenberg parameters.
Here’s what I expect:
• A table of DH parameters (θ, d, a, α) for each of the three joints, consistent with the right-hand rule.
• Symbolic derivation of the composite T0 → 3 matrix plus a numeric example to show it works.
• A brief note on any singularities unique to this 3-DOF layout.
Please deliver the derivation as a well-commented PDF (google docs, Word, or Notebook are all fine)
I’ll verify the work by comparing your numeric results against my simulator, so the equations must reproduce position and orientation within a small numerical tolerance.
This task must be done given a 5-6 hour timescale.
Here’s what I expect:
• A table of DH parameters (θ, d, a, α) for each of the three joints, consistent with the right-hand rule.
• Symbolic derivation of the composite T0 → 3 matrix plus a numeric example to show it works.
• A brief note on any singularities unique to this 3-DOF layout.
Please deliver the derivation as a well-commented PDF (google docs, Word, or Notebook are all fine)
I’ll verify the work by comparing your numeric results against my simulator, so the equations must reproduce position and orientation within a small numerical tolerance.
This task must be done given a 5-6 hour timescale.