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2012-1813. DH Representation - Examples
2012-1813. DH Representation - Examples
Joints
Joints:
End Effector
2 DOFs
Robot Basis
Denavit
Hartenberg
details and
examples
DENAVIT-HARTENBERG REPRESENTATION
Chapter 2
Symbol Terminologies :
Joints U
Links S
Y-axis is orthogonal
Link offset, di-1, specifies the distance along the zi-1-axis (rotated
by i-1) of the ith frame from the
i-1th x-axis to the ith x-axis
DENAVIT-HARTENBERG
REPRESENTATION PROCEDURES
Start point:
DENAVIT-HARTENBERG REPRESENTATION
DENAVIT-HARTENBERG
ChapterREPRESENTATION
2
Robot Kinematics:
Positionto
Analysis
The necessary
motions
transform from
one reference frame to the next.
(I)
colinear.
(III) Translate along the xn-axis a distance of an+1 to bring the origins
of xn+1 together.
(IV) Rotate zn-axis about xn+1 axis an angle of n+1 to align zn-axis
with zn+1-axis.
Denavit Hartenberg
Parameters
a general explanation
Denavit-Hartenberg Notation
Z(i - 1)
Y(i -1)
Yi
Zi
Xi
a(i - 1 )
ai
di
X(i -1)
( i - 1)
THE PARAMETERS/VARIABLES:
, a , d,
Z(i - 1)
Y(i -1)
X(i -1)
1) a(i-1)
( i - 1)
Yi
a(i - 1 )
Zi
Xi
di
ai
You can
align the
two axis
just using
the 4
parameters
a(i-1) cont...
Z(i - 1)
Y(i -1)
Yi
Zi
Xi
a(i - 1 )
X(i -1)
: A rotation about the z-axis.
( i - 1)
ai
di
i
Its Usually on the Diagram Approach If the diagram already specifies the various coordinate frames, then the
common perpendicular is usually the X(i-1) axis.
So a(i-1) is just the displacement along the X(i-1) to move from the (i-1) frame to
the i frame.
If the link is prismatic, then a(i-1) is a variable, not a parameter.
Z(i - 1)
Y(i -1)
X(i -1)
( i - 1)
: A rotation about the z-axis.
d : The distance on the z-axis.
a : The length of each common normal (Joint offset).
: The angle between two successive z-axes (Joint twist)
Yi
a(i - 1 )
Zi
Xi
di
ai
i
2)(i-1)
Technical Definition:
Amount of rotation around the common perpendicular so that the joint axes are
parallel.
i.e. How much you have to rotate around the X(i-1) axis so that the Z(i-1) is pointing
in the same direction as the Zi axis.
Positive rotation follows the right hand rule.
Z(i - 1)
Y(i -1)
X(i -1)
( i - 1)
Yi
a(i - 1 )
Zi
Xi
di
ai
i
3) d(i-1)
Technical Definition:
The displacement along the Zi axis needed to align the a(i-1) common perpendicular
to the ai common perpendicular.
In other words, displacement along the Zi to align the X(i-1) and Xi axes.
The i Parameter
4) i
Amount of rotation around the Zi axis needed to align the X(i-1) axis with the Xi
axis.
Z(i - 1)
Y(i -1)
X(i -1)
( i - 1)
The same table as last slide
Yi Z
i
a(i - 1 )
Xi
di
ai
i
sin cos
i
(i1)
sin i
sin (i1)
cos (i1)
sin (i1) d i
cos (i1) d i
a(i1)
Z(i -
Y(i -
1)
1)
X(i -
( i - 1)
1)
Y Z
i
a(i -
1)
X a
i
Example:
Calculating the
final DH matrix
with the DH
Parameter Table
The DH
Parameter
Table
Y2
Z1
Z0
X2
X0
d2
X1
Y0
Y1
a0
Denavit-Hartenberg Link
Parameter Table
a1
i
(i-1)
a(i-1)
di
a0
-90
a1
d2
We calculate with
respect to previous
Y2
Z1
Z0
X2
X0
d2
X1
Y0
Y1
a0
Denavit-Hartenberg Link
Parameter Table
a1
i
(i-1)
a(i-1)
di
a0
-90
a1
d2
Y2
Z1
Z0
X2
X0
X1
Y0
Y1
a0
(i-1)
a(i-1)
di
a0
-90
a1
d2
d2
a1
The same table as last slide
X 0 Y0 Z 0
World coordinates
V X 2
Y2
V
T Z
V 2
1
tool coordinates
(i-1)
a(i-1)
di
a0
cos1
sin
1
0
1
0
-90
a1
sin1
cos1
0
0
d2
0 a0
0 0
0 0
0 1
cos 0 sin 0
sin
cos 0
0
0T
0
0
0
0
0 0
0 0
1 0
0 1
cos 2
0
1
2T
sin 2
sin 2
0
cos 2
0
0 a1
1 d 2
0 0
0 1
Conclusions
V X 0 Y0 Z 0
World coordinates
V X 2
Y2
V
T Z
V 2
1
tool coordinates
Forward
Kinematics
Solution:
1. Geometric Approach
This might be the easiest solution for the simple situation. However,
notice that the angles are measured relative to the direction of the previous
link. (The first link is the exception. The angle is measured relative to its
initial position.) For robots with more links and whose arm extends into 3
dimensions the geometry gets much more tedious.
2. Algebraic Approach
Involves coordinate transformations.
1. You have a three link arm that starts out aligned in the x-axis.
Each link has lengths l1, l2, l3, respectively.
You tell the first one to move by 1 , and so on as the diagram suggests.
Find the Homogeneous matrix to get the position of the yellow dot in the
X0Y0 frame.
Y3
3
Y2
l2
X3
l3
X2
1.
2.
3.
4.
l1
1
X0
3
Y2
X3
X2
X4
added
This takes you from the X0Y0 frame to the X4Y4 frame.
1
X0
X
0
Y
0
H
Z
0
1
1
THE INVERSE
KINEMATIC
SOLUTION OF A
ROBOT
C1 (C234C5C6 S 234 S 6 )
S S C
1 5 6
S1 (C234C5C6 S 234 S 6 )
C1S5C6
S 234C5C6 C234 S 6
nx
n
y
nz
ox a x p x
o y a y p y
oz a z p z
0 0 1
RHS
C1 (C234C5C6 S 234C6 )
S1 (C234C5C6 S 234C6 )
S1 (C234 S5 ) C1C5 S1 (C234 a4 C23a3 C2 a2 )
C1S5C6
S 234C5C6 C234C6
S 234 S5
S 234 a4 S 23a3 S 2 a2
0
0
1
-1
ox a x p x
oy a y p y
A11[ RHS] A2 A3 A4 A5 A6
oz a z p z
0 0 1
C1 S1
0 0
S1 C1
0 0
A1
-1
0 0 n x
1 0 n y
0 0 n z
0 1 0
ox a x p x
oy a y py
A2 A3 A4 A5 A6
oz a z p z
0 0 1
py
1 tan
px
1
2 tan 1
S3
C
3
3 tan 1
4 234 2 3
5 tan 1
6 tan 1
PROBLEMS
with DH
-90
d1
90
d1
-90
90