SGTofDHset

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Kinematics and Frames
Introduced first in SolidGeometry 4.2, Creation date: 2018-07-20, Last change: 2025-09-14

returns the solids for a kinematic chain defined by DH parameter



See Also: SGof2T , SGTset , SGTofDenavitHartenberg , SGTchain

Example Illustration

missing image of SGTofDHset(DHS,r,g)

Syntax

[SG,Ti,SGN,Tii,E]=SGTofDHset(DHS,[r,g])

Input Parameter

DHS: Denavit-Hartenberg Parameter [nx3] [d a wx] or [d a xw xy]
r: optional diameter for tube
g: optional offset for phiz

Output Parameter

SG: Cell list of Solid Geoemtries
Ti: Cell ist of Symbolic Equation
SGN: Compiled Solid using the kinematic chain
Tii: Cell list of complete symbolic equations
E: Final movement matrix of the TCP

Examples

SGTofDHset([10 0 pi/2])
SGTofDHset([20 0 pi/2;0 20 pi;10 0 pi/2; 3 0 pi/4; 3 0 pi/4],1,pi/10); SG=ans
SGTofDHset([20,0,pi/2 0;0 20 pi*0.99 0;0 20 0 pi/2]) % including roation around y
SGTofDHset([20 0 pi/2 0; 0,20,pi 0;0 10 0 pi/2;10 0 pi/4 0; 10 0 -pi/4 0;10 0 0 0])
SGTofDHset([50 0 0 0; 100,0,pi/2 0;0 100 pi*0.99 0;0 100 0 pi/2],[PLcircle(10);nan nan; PLsquare(12)]); SGA=ans;
SGTofDHset([50 0 0 0; 100,0,pi/2 0;0 100 pi*0.99 0;0 100 0 pi/2],[PLsquare(20);nan nan; PLcircle(7)]); SGA=ans;



Copyright 2018-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth

Last html export of this page out of FM database by TL: 2025-09-21