add the base height to the model
@@ -58,8 +58,10 @@ class Puma560(DHRobot):
deg = pi/180
+ base = 0.672 # from mounting surface to shoulder axis
+
L0 = RevoluteDH(
- d=0, # link length (Dennavit-Hartenberg notation)
+ d=base, # link length (Dennavit-Hartenberg notation)
a=0, # link offset (Dennavit-Hartenberg notation)
alpha=pi/2, # link twist (Dennavit-Hartenberg notation)
I=[0, 0.35, 0, 0, 0, 0], # inertia tensor of link with respect to
