DH parameters for Franka Emika panda arm

[Peter Corke]

This is a pretty nice robot, does anybody have a DH parameter model for it.  The data sheet

https://s3-eu-central-1.amazonaws.com/franka-de-uploads-staging/uploads/2017/09/2017-09-12_datasheet_panda.pdf

only lists joint limits.

Peter

[mathias.br...@gmail.com]

Hi Peter,

I am in contact with Franka Emika to get the parameters. I asked them one week ago. As soon I get the data, I will let you know.

Greetings
Mathias Brandstötter

[Alex Smith]

Just a note on this, I have checked the DH model for the Panda now included with RTB 10.3.1: The DH is current in 'standard', when it should actually be 'modified'. 

Alex

[Peter Corke]

This also came up on GitHub https://github.com/petercorke/robotics-toolbox-matlab/issues/62

Are you saying the parameters at the FE site are MDH?  The current code, mdl_panda, certainly assumes they are standard.

peter

[Alex Smith]

It appears the FE site is defined in MDH. I have attached my definition with the joint limits included. I haven't added the flange, which has 'd' = 0.107 added to the last link.

Alex

[Peter Corke]

Thanks Alex.  This seems to be a common confusion, here's a recent paper

https://hal.inria.fr/hal-02265293/document

which gives the DH parameters in Fig 1, the caption says modified, but the column headings (all with subscript i) would indicate standard.  I will fix the model file on GitHub today.  

I'd also love to have the dynamic parameters as well...

[Alex Smith]

Hey Peter, 

I have been investigating getting the dynamic parameters for the Panda also, and it looks like someone has done it already: 

https://github.com/petercorke/robotics-toolbox-matlab/blob/master/models/mdl_panda.m

I am going to test and compare ASAP the simulation with the real robot here in Bristol. I'll keep you updated.

Regards,

Alex

[Peter Corke]

I did that a couple of weeks ago!  The data comes from the multimedia attachment to the RA-L paper mentioned in the file.

There's also a thread on GitHub https://github.com/petercorke/robotics-toolbox-matlab/issues/62#issuecomment-549693203 about this. It's annoying to have conversations spread across two forums now...

Please let me know how you go.

peter