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4

ng Hc Thun:
Qui Tc Denavit-Hartenberg
Bc 1: Xc nh cc trc khp v t tn tng ng z0 z n1 .
Bc 2: Xc lp h ta nn. t gc ca h ta ny ti bt k im no trn trc
z0 .

Cc

trc

x0 v

y0 c

chn

tha

qui

tc

tam

din

thun.

Lp i =1,..., n 1 ln thc hin bc 3 n bc 5.


Bc 3: Xc nh cc gc Oi l giao im ca ng vung gc chung gia zi v
z i 1 vi zi . Nu zi giao vi z i 1 , t Oi ti giao im ny. Nu zi song song vi
z i 1 , t Oi ti bt k v tr no trn zi sao cho thun tin.

Bc 4: Xc nh xi dc theo ng vung gc chung gia z i 1 v zi i qua Oi ,


hoc theo hng vung gc vi mt phng to bi z i 1 v zi nu z i 1 v zi giao
nhau.
Bc 5: Xc nh yi tha qui tc tam din thun.
Bc 6: Xc nh h ta tc ng cui on xn y n z n . Gi s khp

n l khp quay, t

z n = a dc theo hng z n 1 . Xc nh gc On bt k trn z n sao cho thun tin,

thng l tm ca b kp hay ti u dng c m tay my phi mang. t yn = s theo


hng kp v t xn theo s x a . Nu dng c kp khng n gin th t xn v y n
to thnh tam din thun.
Bc 7: Lp bng tham s ch cc khu trn robot

ai : khong cch theo phng x i t Oi n giao im ca cc trc x i v z i 1 .


d i : khong cch theo phng z i 1 t Oi 1 n giao im ca cc trc x i v z i 1 ,
d i thay i khi khp i l khp trt.

i : l gc quay quanh trc x i t z i 1 n z i .

i : l gc quay quanh trc z i 1 t x i 1 n x i .


Bc 8: T cc ma trn bin i thun nht A i bng cch thay cc tham s trn vo.
Bc 9: Tnh Tn0 = A1 An . Ma trn ny cho ta bit c v tr v hng i vi h ta
nn ca dng c gn trn khu cui.
V d

Bng tham s khu cho robot 2 khu ng phng

Khu

ai

di

1
2

c1 s1
s
c1
A1 = 1
0
0

0
0
c2 s2
s
c2
A2 = 2
0
0

0
0

0
0

a1
a2

0
0
1
0
0
0
1
0

0
0

1
2

a1c1
a1s1
0

1
a 2 c2
a2 s2
0

Ma trn bin i thun nht


c12
s
T20 = A1 A2 = 12
0

s12
c12
0
0

0
0
1
0

a1c1 + a2 c12
a1 s1 + a2 s12

Lu rng 2 thnh phn u ca ct cui cng ca T20 l v tr x v y ca O2 .


x = a1c1 + a2 c12
y = a1s1 + a2 s12

Phn quay ca T20 cho hng ca o2 x2 y 2 z 2 i vi h ta nn.