robot_dh_parameters

Robot DH Parameter Definitions.

This module defines Denavit-Hartenberg (DH) parameter dictionaries for a set of common industrial robot arms, including:

• Franka Emika Panda

• KUKA LBR iiwa and LWR

• Universal Robots UR5, UR10, UR5e, UR10e

• Mitsubishi PA10

• Kinova Jaco2

Each dictionary includes: - ‘name’ : Robot identifier - ‘description’ : Human-readable name - ‘nj’ : Number of joints - ‘a’, ‘alpha’, ‘d’, ‘theta’ : Lists of DH parameters, compatible with symbolic modeling tools

These definitions are useful for generating symbolic kinematic models, Jacobians, and dynamic models.