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Joints
Joints:
End Effector
2 DOFs
Robot Basis
Denavit
Hartenber
g details
and
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-1axis (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
skew lines.
DENAVIT-HARTENBERG REPRESENTATION
Chapter
2
The necessary motions to transform
Robot Kinematics: Position Analysis
Denavit Hartenberg
Parameters
a general explanation
Denavit-Hartenberg Notation
Z(i - 1)
Y(i -1)
X(i -1)
Yi
a(i - 1 )
Zi
Xi
di
ai
( 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)
X(i -1)
: A rotation about the z-axis.
( i - 1)
Yi
a(i - 1 )
Zi
Xi
di
ai
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 )
di
Zi
Xi
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.
4)
The i Parameter
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 )
di
Xi
ai
i
cos i
sin i cos (i 1)
sin i sin (i 1)
0
sin i
cos i cos (i 1)
cos i sin (i 1)
0
0
sin (i 1)
cos (i 1)
0
a(i 1)
sin (i 1) d i
cos (i 1) d i
1)
X(i -1)
( i - 1)
Y Zi
a(i 1)
X a
i
Example:
Calculating the
final DH matrix
with the DH
Parameter Table
Y2
Z1
Z0
X2
X0
The DH
Parameter
Table
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 X2
Y2
V
V Z2
tool coordinates
T ( 0T)( 01T)(12T)
Note: T is the D-H matrix with (i-1) = 0 and i = 1.
These matrices T are
calculated in next slide
(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
1
0
0
0
0
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 T
World coordinates
V X2
Y2
V
V Z2
tool coordinates
T ( 0T)( 01T)(12T)
Forward
Kinematics
3
Y2
l2
X3
l3
X2
l1
Y1
X1
Y0
1
X0
3
Y2
2
X2
X3
3
X4
added
This takes you from the X0Y0 frame to the X4Y4 frame.
X1
Y0
Y1
1
X0
X
Y
0
0
H
0
1
THE INVERSE
KINEMATIC
SOLUTION OF A
ROBOT
S1 (C234C5C6 S 234 S 6 )
C1S5C6
S 234C5C6 C234 S 6
nx
n
y
nz
ox
oy
oz
0
ax
ay
az
0
px
p y
pz
C1 (C234C5C6 S 234C6 )
S1 (C234C5C6 S 234C6 )
S1 (C234 S5 ) C1C5 S1 (C234 a4 C23 a3 C2 a2 )
C1S5C6
S 234C5C6 C234C6
S 234 S5
S 234 a4 S 23a3 S 2 a2
0
0
1
-1
0 0 0 1
C1 S1
0 0
S1 C1
0 0
A1
-1
0
1
0
0
0 nx
0 n y
0 nz
1 0
ox
oy
oz
0
ax
ay
az
0
px
py
A2 A3 A4 A5 A6
pz
py
px
1 tan 1
2 tan 1
S3
C
3
3 tan 1
4 234 2 3
5 tan 1
6 tan 1
PROBLEM
S with DH
DEGENERACY AND
DEXTERITY
can
position the robot as desired, but
not
orientate it.
-90
d1
90
d1
-90
90