Robot

Technology
Dr. Mohamed Atef Elsharif
D-H assumptions
 is perpendicular to
 is intersect with to

Link parameters according to D-H

 : Angle between and about
 : Distance from and along
 : Distance from and along
 : Angle between and about
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Steps to get homogenous transformation using D-H
1- Assign frames
Place on direction of rotation
Place to be perpendicular to and in direction of link
Use right hand rule to get

2- Create a table with number of joints and fill with , , , .

3- Substitute in

= Rot z, Trans z, d Trans x, a Rot x, 

4- Multiply , , …… to get transformation
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Example

1 0 0
2 0 0
3 0 0

0 1 2
𝑇 1=[ ] 𝑇 2=[ ] 𝑇 3=[ ]

.
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Example

1 0 90
2 0 0
3 0 0

0 1 2
𝑇 1=[ ] 𝑇 2=[ ] 𝑇 3=[ ]

.
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Example
Consider the two-link Cartesian manipulator shown. Derive the
forward kinematics equations using DH convention

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 Two-link manipulator
x2

z2

d2
Joint 2 z1

x1 Link 2
y0
𝐿1

Link 1

Joint 1 1
x0

Link  d a 
1 1 0 L1 90
2 0 d2 0 0
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Consider the two-link Cartesian manipulator shown. Derive the
forward kinematics equations using DH convention

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Two-link Cartesian manipulator

Link 2 (d2)
Joint 2
z1
z2

x1
x2

Link 1 (d1)
z0

Joint 1
x0
Link  d a 
1 0 d1 0 -90
2 0 d2 0 0
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Questions

Dr. Mohamed Atef 14