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  • Robotics - CO3-Part B

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    Thota Srinivas
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    This document discusses kinematic modeling of robotic manipulators using Denavit-Hartenberg parameters. It defines link length, joint angle, and joint distance parameters and describes how to assign reference frames to links using these parameters to formulate the forward kinematic model. The document provides examples of applying this process to obtain the kinematic models of common robot arm configurations like 3-DOF revolute-revolute-prismatic, SCARA, and Stanford manipulators.

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    Robotics_CO3-Part B

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    This document discusses kinematic modeling of robotic manipulators using Denavit-Hartenberg parameters. It defines link length, joint angle, and joint distance parameters and describes how to assign reference frames to links using these parameters to formulate the forward kinematic model. The document provides examples of applying this process to obtain the kinematic models of common robot arm configurations like 3-DOF revolute-revolute-prismatic, SCARA, and Stanford manipulators.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    8 views25 pages

    Robotics - CO3-Part B

    Uploaded by

    Thota Srinivas
    This document discusses kinematic modeling of robotic manipulators using Denavit-Hartenberg parameters. It defines link length, joint angle, and joint distance parameters and describes how to assign reference frames to links using these parameters to formulate the forward kinematic model. The document provides examples of applying this process to obtain the kinematic models of common robot arm configurations like 3-DOF revolute-revolute-prismatic, SCARA, and Stanford manipulators.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 25

    Robotics

    (20ME14)
    By

    Dr M B S S Reddy
    Department of Mechanical Engineering
    Lakireddy Balireddy College of Engineering (A)
    Mylavaram
    Link Parameters

    • The shortest distance along common normal is defined as link length (ai)
    • The angle between the projection of axis (i-1) and axis i on a plane perpendicular to
    D-H Parameters

    Joint distance (di) is the perpendicular distance between two adjacent common
    normals measured along the axis (i-1).

    Joint angle (θi) is the angle between two adjacent common normals measured in right
    handed direction about the axis (i-1).
    Kinematic Modeling of Manipulator
    Denavit-Hartenberg Notation
    Kinematic relationship between
    adjacent links
    Kinematic relationship between
    adjacent links
    D-H Link frame assignment algorithm
    Obtain position and orientation of tool
    point P with respect to base
    Frame assignment
    Joint-Link parameters and forward
    kinematic model
    Formulate forward kinematic model of
    cylindrical arm
    Frame assignment
    Joint-Link parameters and forward
    kinematic model
    Formulate forward kinematic model of
    articulated arm
    Frame Assignment
    Joint-Link parameters and forward
    kinematic model
    D-H Parameters of 3-DOF RRP manipulator
    D-H Parameters of SCARA manipulator
    D-H Parameters of Stanford manipulator

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