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3 years ago in Robotics By Kushi Gupta

How do I find a link’s center of mass position in the base frame using Modified DH notation for Lagrange dynamics?

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By Krirthi Answered 1 year ago

You must compute the transformation from the link's center-of-mass (COM) frame to the base frame. Define the COM's position vector in its local link frame. Then, multiply this vector by the chain of homogeneous transformation matrices (using your Modified DH parameters) from the base frame up to and including that specific link's frame. This yields the COM coordinates in the base frame.

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