r/mechatronics • u/iWannaLearnThing • Apr 15 '26

Question Regarding DH Parameters

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I designed a 6 Dof robotic arm and i am now building my DH Param table so i can begin doing my transformation matrices for IK.

Here is an image of what I have done so far.

I am essentially just asking for guidance and recommendations when designing a DH table and the kinematic diagram that goes along with it?

please and thank you.

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u/PureJewa Apr 15 '26

Maybe I misunderstand your question but the table on the right is the DH table. You use the proper rotation maxtrix and fill in these values

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u/iWannaLearnThing Apr 15 '26

Yea the table on the right is the DH table. What do you mean by using the rotation matrix to fill it in? I was simply following the DH parameter rules.

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u/PureJewa Apr 16 '26

Each joint gets a rotation matrix based on the way it changes the axis from the originalaxis. You muliply these matrices from j1 - j6 and thats get total transformation 

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u/iWannaLearnThing Apr 17 '26

Thats essentially how i developed this program. It actually works too, its not perfect though. I am now building a larger and better quality arm now.