Implementación en Matlab del modelo Cinematico con los

parámetros de Denavit Hatemberg

Marttin Alexander Hernandez A cuña
November 24, 2021

Abstract
Robotics is a science that focuses on the design, manufacture, functionality, study and applica-
tion of automated robots, relying on different disciplines such as electrical, electronic, mechanical,
biomedical and systems engineering. Matlab is a matrix-based programming language that allows
the simplest expression of computational mathematics. Denavit Hatemberg’s parameters consist
of a series of rules to place the reference systems of each link of the robot.

1 Introduction
At some point in our life we saw the Robot as a creation of science fiction, we have seen them in
movies, series and in drawings, programs and films that accompanied our childhood.
Thanks to the evolution of technology we see how it has been incorporated into our lives from
a simple washing machine to cameras with facial recognition, we currently have sophisticated robots
capable of performing more sensitive processes and with unimaginable precision of movement. The
purpose of these robots is to automate simple processes ranging from arms that bake bread to very
complex processes such as human surgeries where there is no room for error

2 TYPES OF ROBOTS
1 Mobile phones Terrestrial Aerial Aliens Submarines 2 Manipulators Open Closed planar 3 Humanoids
prosthesis Exoskeletons complete 4 Doctors Surgical Rehabilitation 5 Soft Flexible parts Flexible drive
mechanisms

2.1 Replicate the implementation of rotations using Matlab MatRotExam-

ple.m
2.2 Replicate the RRR robot simulation, using RRExample.m
2.3 P=RRRExample( [0 0 0] )
2.4 P=RRRExample( [0 0 45*pi/180] )
2.5 P=RRRExample( [0 45*pi/180 45*pi/180] )
2.6 P=RRRExample([90*pi/180 45*pi/180 45*pi/180])
2.7 CONCLUSIONS
1. We observe how the direct kinematics of the robot is implemented as a function of the Denavit
Hatemberg parameters.
2. Angle values are entered and we obtain final positions.
3. Matlab is a tool that makes it easier for us to obtain results in numerical analysis, giving solutions
to apparently complex mathematical systems..

1
 Figure 1: Code in matlab.

Figure 2: Introduce data. Alpha and theta value.

2
 Figure 3: Graph, Coordinate system,

Figure 4: Code in matlab, definition of robot lengths.

3
 Figure 5: Introduce data.

Figure 6: Graph, Zero degree rotation.

4
 Figure 7: Introduce data.

Figure 8: Graph, Theta 3 with 45 degree angle.

5
 Figure 9: Introduce data.

Figure 10: Graph, Theta 2 with 45 degree angle

6
 Figure 11: Introduce data.

Figure 12: Graph, Theta 1 with 90 degree angle.