Request for DH Parameters for MG400 Robot


I am wondering if anyone has the Denavit-Hartenberg (DH) parameters for the MG400 robot. I was not able to get these parameters from the provided documentation and I urgently need them to write the inverse & forward kinematics for that robot. I need to write these functions for a particular educational use case. Alternatively, if Dobot has these functions already in Python that will be extremely useful.


Hi Ahmed.

I think the URDF for the MG400 is available (look for the MG400 Ros packages supplied by Dobot on GitHub). Once you have that, you can look for some software or script to convert the URDF to DH. i.e. mcevoyandy/urdf_to_dh: Generate DH parameters from a URDF (

Cheers, Mark