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DEPARTMENT OF MECHATRONICS ENGINEERING

UNIVERSITY OF ENGINEERING & TECHNOLOGY, PESHAWAR
Robotics MtE-405L, 7th Semester

Student Name: Imad Ahmad

Reg No: 20PWMCT0732
Instructor Name: Dr. Riaz Akbar Shah
Submission Date:

Lab No 6: Denavit–Hartenberg parameters

Lab Rubrics:
BelowBasic (1)
Criteria Excellent (4) Proficient (3) Basic (2) Student’s
Score
Report is mostly
Report is
Report is as per as per the Sections/Steps
disorganized
To organize the the guidelines. are not ordered
guidelines and and follows
lab report and All and Report is
most some
practice sections/steps not as per the
sections/steps guidelines
th e writing skills are clearly guidelines
but most of
as per the organized in a are ordered well
the guidelines
guidelines logical order. but requires are missing
minor
improvements.
The report
completely The report The report The report is
discusses the discusses the discusses the totally irrelevant
To discuss the required task in required task lab work but to the lab work
actual own words with have
task some relevant irrelevant
additional information
information
Calculations Calculations and Most data and Calculations and
and data analysis observations data analyses of
were performed were lab were missing
data analyses
To perform accurately, but recorded
calculations and minor errors adequately,
were performed
data analysis were made both but with
clearly,
in calculations several
concisely, and
and in applying significant
accurately, with
correct units errors
correct
units. or omissions.
Graphs, if Graphs, if Graphs, if Major
necessary, were necessary, were necessary, components of
To present results drawn drawn were drawn but lab
in the form of accurately and adequately inadequately. were
graphs neatly and were missing
clearly labelled.

Course Instructor: Dr. Riaz Akbar Shah

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Table of Contents
Contents
Objectives..............................................................................................................................................................
Theory....................................................................................................................................................................
Types of Robotic Arm...........................................................................................................................................
Lab-Volt Automation 5250-A0 Servo Robot Training System.............................................................................
ProArm RS2200 Robot by Marcraft Int ................................................................................................................
Mobile Robot.........................................................................................................................................................
The Khepera IV Mobile Robot..............................................................................................................................
Unimate PUMA 500..............................................................................................................................................
Pick and Place Robotic Arm..................................................................................................................................
Conclusion............................................................................................................................................................
References.............................................................................................................................................................

Course Instructor: Dr. Riaz Akbar Shah

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Lab No: 6 Denavit–Hartenberg parameters

Objectives:
 To do Matrix multiplication see their products.
 To check transformation for Euler angles
 To analyze the three Roll, Pitch and Yaw(moments)

Theory:
Denavit–Hartenberg parameters
In mechanical engineering, the Denavit–Hartenberg parameters (also called DH parameters) are the
four parameters associated with a particular convention for attaching reference frames to the links of a
spatial kinematic chain, or robot manipulator.
Jacques Denavit and Richard Hartenberg introduced this convention in 1955 in order to standardize the
coordinate frames for spatial linkages.
Richard Paul demonstrated its value for the kinematic analysis of robotic systems in 1981.[3] While
many conventions for attaching reference frames have been developed, the Denavit–Hartenberg convention
remains a popular approach.

Denavit–Hartenberg Conention:
A commonly used convention for selecting frames of reference in robotics applications is the Denavit and
Hartenberg (D–H) convention which was introduced by Jacques Denavit and Richard S. Hartenberg. In this
convention, coordinate frames are attached to the joints between two links such that one transformation is
associated with the joint, [Z ], and the second is associated with the link [X ]. The coordinate transformations
along a serial robot consisting of n links form the kinematics equations of the robot,

Course Instructor: Dr. Riaz Akbar Shah

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In order to determine the coordinate transformations [Z ] and [X ], the joints connecting the links are modeled
as either hinged or sliding joints, each of which have a unique line S in space that forms the joint axis and define
the relative movement of the two links. A typical serial robot is characterized by a sequence of six lines Si, i = 1, 2,
..., 6, one for each joint in the robot. For each sequence of lines Si and Si+1, there is a common normal line Ai,i+1.
The system of six joint axes Si and five common normal lines Ai,i+1 form the kinematic skeleton of the typical six
degree of freedom serial robot. Denavit and Hartenberg introduced the convention that z-coordinate axes are
assigned to the joint axes Si and x-coordinate axes are assigned to the common normals Ai,i+1.

DH Table In MATLAB:

MATLAB Code:
d1=180;
a2=170;
a3=170;
d5=120;
L(1)=Link([0,d1,0,-pi/2]);
L(2)=Link([0,0,a2,0]);
L(3)=Link([0,0,a3,0]);
L(4)=Link([0,0,0,-pi/2]);
L(5)=Link([0,d5,0,0]);
Rob=SerialLink(L)
Rob.name='Mini Robot'
Rob.plot([0 0 0 0 0])
syms th1 th2 th3 th4 th5
A=Rob.fkine([0 0 0 0 0]);
Rob.fkine([th1 th2 th3 th4 th5]);
Rob.fkine(A,'mask',[1 1 1 1 1 0]);

Code Explanation:
 These lines define the Denavit-Hartenberg parameters for the robot: d1, a2, a3, and d5.
 These lines define the robot's links using the Link class from the Robotics Toolbox. Each link is specified by
a set of Denavit-Hartenberg parameters: [theta, d, a, alpha].
 This line creates a SerialLink object Rob using the defined links.
 This line plots the robot in its default configuration with joint angles [0 0 0 0 0].
 Next lines declare symbolic variables for the joint angles.
 Next line computes the forward kinematics of the robot for the default joint angles [0 0 0 0 0] and stores the
transformation matrix in the variable A
 This computes the forward kinematics of the robot for symbolic joint angles [th1 th2 th3 th4 th5].
 This computes the forward kinematics of the robot using the previously computed transformation matrix A
and applies a mask to consider only the first five elements of the homogeneous transformation matrix.
References:
[1] https://www.indiamart.com/proddetail/pick-place-systems-6600798248.html
[2] https://www.ebay.com/itm/293659659435
[3] https://americanhistory.si.edu/collections/search/object/nmah_1028521
[4] https://www.mathworks.com/help/phased/ref/rotx.html
Course Instructor: Dr. Riaz Akbar Shah