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DH Representation
DH Representation
Joints
Links and Joints
Links
Joints:
End Effector
2 DOFs
Robot Basis
Denavit
Hartenberg
details and
examples
DENAVIT-HARTENBERG REPRESENTATION
Chapter 2
Symbol Terminologies :
Robot Kinematics: Position Analysis
Start point:
Assign joint number n to the first shown joint.
Assign a local reference frame for each and every
joint before or
after these joints.
Y-axis is not used in D-H representation.
DENAVIT-HARTENBERG REPRESENTATION
Procedures for assigning a local reference frame to each joint:
Z(i - 1)
Y(i -1) Yi Zi
Xi ai
a(i - 1 ) di
X(i -1)
i
( i - 1)
IDEA: Each joint is assigned a coordinate frame.
Using the Denavit-Hartenberg notation, you need 4 parameters to describe how a
frame (i) relates to a previous frame ( i -1 ).
Z(i - 1)
Y(i -1) Yi Zi
Xi ai
a(i - 1 ) di
X(i -1)
i
( 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)
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.
Z(i - 1)
Y(i -1) Yi Zi
Xi ai
a(i - 1 ) di
X(i -1)
i
( i - 1)
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.
Z(i - 1)
Y(i -1) Yi Zi
Xi ai
a(i - 1 ) di
X(i -1)
i
( i - 1)
3) d(i-1) The d(i-1) Parameter
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) i 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) Yi Z
i
Xi ai
a(i - 1 ) di
X(i -1)
i
( i - 1)
Z(i -
Put the transformation here 1) Y(i - Y Z
1) i i X a
a(i - d
: A rotation about the z-axis. X(i - i i
( i - 1)
1) i i
d : The distance on the z-axis. 1)
Y0 Y1
Denavit-Hartenberg Link
a0 a1 Parameter Table
i (i-1) a(i-1) di i
Notice that the table has two uses:
1) To describe the robot with its 0 0 0 0 0
variables and parameters.
2) To describe some state of the 1 0 a0 0 1
robot by having a numerical values
for the variables. 2 -90 a1 d2 2
We calculate with
respect to previous
Example with three Y2
Revolute Joints
Z0 Z1
X2
d2
X0 X1
Y0 Y1
Denavit-Hartenberg Link
a0 a1 Parameter Table
i (i-1) a(i-1) di i
Notice that the table has two uses:
1) To describe the robot with its 0 0 0 0 0
variables and parameters.
2) To describe some state of the 1 0 a0 0 1
robot by having a numerical values
for the variables. 2 -90 a1 d2 2
0 0 0 0 0
X2
d2
X0 X1 1 0 a0 0 1
Y0 Y1
2 -90 a1 d2 2
a0 a1
The same table as last slide
V X 2
Y2
V T ( 0T)( 01T)( 12T)
V X 0 Y0 Z 0
T Z
V 2
1 Note: T is the D-H matrix with (i-1) = 0 and i = 1.
World coordinates
tool coordinates
These matrices T are
calculated in next slide
The same table as last slide
0 0 1 0
1 0 a0 0 1 0 0 0 1
This is just a rotation around the Z0 axis
2 -90 a1 d2 2
The Quest:
What is the position of the
end of the robotic arm?
Solution:
1. Geometric Approach
This might be the easiest solution for the simple situation. However,
notice that the angles are measured relative to the direction of the previous
link. (The first link is the exception. The angle is measured relative to its
initial position.) For robots with more links and whose arm extends into 3
dimensions the geometry gets much more tedious.
2. Algebraic Approach
Involves coordinate transformations.
Example Problem with H matrices:
1. You have a three link arm that starts out aligned in the x-axis.
2. Each link has lengths l1, l2, l3, respectively.
3. You tell the first one to move by 1 , and so on as the diagram suggests.
4. Find the Homogeneous matrix to get the position of the yellow dot in the
X0Y0 frame. Y3
Y2 l2 X3 l3
2 X2
Y4
3
Y2 2 X3 3
2 X2
X4
added
1
X0
The position of the yellow dot relative to the X4Y4 frame
is (0,0).
X 0
Y 0
H
Z 0
1 1
THE INVERSE
KINEMATIC
SOLUTION OF A
ROBOT
THE INVERSE KINEMATIC SOLUTION
OF ROBOT
Determine the value of each joint to place the arm at a
desired position and orientation.
R
TH A1 A2 A3 A4 A5 A6 RHS
nz oz az pz
0 0 0 1
Multiply both sides by A1 -1
THE INVERSE KINEMATIC SOLUTION OF ROBOT
nx ox ax px
n oy ay
py
1 y
A1 A11[ RHS ] A2 A3 A4 A5 A6
nz oz az pz
0 0 0 1
C1 S1 0 0 n x ox ax px
0 0 1
0 n y oy ay
py
A2 A3 A4 A5 A6
S1 C1 0 0 n z oz az pz
0 0 0 1 0 0 0 1
A1 -1
THE INVERSE KINEMATIC SOLUTION OF ROBOT
py
1 tan 1
px
(C3a3 a2 )( pz S 234a4 ) S3a3 ( pxC1 p y S1 C234a4 )
2 tan 1
(C3a3 a2 )( pxC1 p y S1 C234a4 ) S3a3 ( Pz S 234a4 )
S3
3 tan 1
C 3
4 234 2 3
# d a
1 1 0 0 -90
2 2 d1 0 90
3 0 d1 0 0
4 4 0 0 -90
5 5 0 0 90
Fig. 2.31 The frames of the
6 6 0 0 0
Stanford Arm.