1. Kinematics of Mitsubishi RV-6S/6SC Robot

2. Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention)
Transformation in a joint is described by 4 parameters
R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.

3. Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention)
Transformation in a joint is described by 4 parameters
R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.

4. Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention)
Transformation in a joint is described by 4 parameters
R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.

5. Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention)
Transformation in a joint is described by 4 parameters
R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.

6. Kinematic model of Mitsubishi RV-6S/6SC (Denavit-Hartenberg convention)
Transformation in a joint is described by 4 parameters
R. S. Hartenberg and J. Denavit, “A kinematic notation for lower pair mechanisms based on matrices,” Journal of Applied Mechanics, vol. 77, pp. 215–221, June 1955.

8. RV-6S/6SC

16. MATLAB simulation in ROBOT toolbox:
mRV6S =
RV-6S (6 axis, RRRRRR) [Mitsubishi] <home = [ ]>
grav = [ ]
alpha_i a_i theta_i d_i R/P standard D&H parameters
parameter R (std)
parameter R (std)
parameter R (std)
parameter R (std)
parameter R (std)
parameter R (std)

17. Kinematics of Mitsubishi RV-6S/6SC Robot
Intelligent Robotics
Tomas Pajdla
October 2004