MATLAB: Forward kinematics, Denavit Hartenberg

fkforward kinematicspeter corkerobotics toolbox

I need to make D-H parameter ( axis and tabel for this robot)

this is what i write in matlab ( robotic toolbox)

clc;clear all
L(1)=Link([0 1 0 pi/2])
L(2)=Link([0 1 1 -pi/2])
L(3)=Link([0 0 1 0])
L(1).offset=pi/2
L(2).offset=-pi/2
L(3).offset=-pi/3
L
rob=SerialLink(L)
w=[-3 3 -3 3 -1 6]
rob.plot([0  ,0 , 0 ], 'workspace',w)

And this is what show me when i plot.

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I solved this answer and code should be like this.

    % create links using D-H parameters
L(1) = Link([ 0 0 0 pi/2 0], 'standard');
L(2) = Link([ 0 .15005 .4318 0 0], 'standard');
L(3) = Link([0 .0203 0 -pi/2 0], 'standard');
L(4) = Link([0 .4318 0 pi/2 0], 'standard');
L(5) = Link([0 0 0 -pi/2 0], 'standard');
L(6) = Link([0 0 0 0 0], 'standard');
%define link mass
L(1).m = 4.43;
L(2).m = 10.2;
L(3).m = 4.8;
L(4).m = 1.18;
L(5).m = 0.32;
L(6).m = 0.13;
%define center of gravity
L(1).r = [ 0 0 -0.08];
L(2).r = [ -0.216 0 0.026];
L(3).r = [ 0 0 0.216];
L(4).r = [ 0 0.02 0];
L(5).r = [ 0 0 0];
L(6).r = [ 0 0 0.01];
%define link inertial as a 6-element vector
%interpreted in the order of [Ixx Iyy Izz Ixy Iyz Ixz]
L(1).I = [ 0.195 0.195 0.026 0 0 0];
L(2).I = [ 0.588 1.886 1.470 0 0 0];
L(3).I = [ 0.324 0.324 0.017 0 0 0];
L(4).I = [ 3.83e-3 2.5e-3 3.83e-3 0 0 0];
L(5).I = [ 0.216e-3 0.216e-3 0.348e-3 0 0 0];
L(6).I = [ 0.437e-3 0.437e-3 0.013e-3 0 0 0];
%define motor inertia
L(1).Jm = 200e-6;
L(2).Jm = 200e-6;
L(3).Jm = 200e-6;
L(4).Jm = 33e-6;
L(5).Jm = 33e-6;
L(6).Jm = 33e-6;
%define gear ratio
L(1).G = -62.6111;
L(2).G = 107.815;
L(3).G = -53.7063;
L(4).G = 76.0364;
L(5).G = 71.923;
L(6).G = 76.686;
% motor viscous friction
L(1).B = 1.48e-3;
L(2).B = .817e-3;
L(3).B = 1.38e-3;
L(4).B = 71.2e-6;
L(5).B = 82.6e-6;
L(6).B = 36.7e-6;
% motor Coulomb friction
L(1).Tc = [ .395 -.435];
L(2).Tc = [ .126 -.071];
L(3).Tc = [ .132 -.105];
L(4).Tc = [ 11.2e-3 -16.9e-3];
L(5).Tc = [ 9.26e-3 -14.5e-3];
L(6).Tc = [ 3.96e-3 -10.5e-3];
% set limits for joints
 L(1).qlim=[deg2rad(-160) deg2rad(160)];
 L(2).qlim=[deg2rad(-125) deg2rad(125)];
 L(3).qlim=[deg2rad(-270) deg2rad(90)];
%build the robot model
puma560 = SerialLink(L, 'name','Puma 560');

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