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Chapter 2
Robot Kinematics: Position Analysis
Chapter 2
Robot Kinematics: Position Analysis
Denavit-Hartenberg Representation procedures:
Chapter 2
Robot Kinematics: Position Analysis
Procedures for assigning a local reference frame to each joint:
All joints are represented by a z-axis. (right-hand rule for rotational
joint, linear movement for prismatic joint)
The common normal is one line mutually perpendicular to any two
skew lines.
Parallel z-axes joints make a infinite number of common normal.
Intersecting z-axes of two successive joints make no common
normal between them.
Common normal
Chapter 2
Robot Kinematics: Position Analysis
Symbol Terminologies :
: 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)
Chapter 2
Robot Kinematics: Position Analysis
The necessary motions to transform from one reference frame to the next.
(I)
Chapter 2
Robot Kinematics: Position Analysis
Chapter 2
Robot Kinematics: Position Analysis
Chapter 2
Robot Kinematics: Position Analysis
Chapter 2
Robot Kinematics: Position Analysis
Chapter 2
Robot Kinematics: Position Analysis
Chapter 2
Robot Kinematics: Position Analysis
Chapter 2
Robot Kinematics: Position Analysis
C1 (C234C5C6 S 234S 6 )
S S C
1 5 6
S1 (C234C5C6 S 234S 6 )
C1S5C6
S 234C5C6 C234S 6
nx
n
y
nz
ox a x p x
o y a y p y
oz a z p z
0 0 1
C1 (C234C5C6 S 234C6 )
S1 (C234C5C6 S 234C6 )
S1 (C234S5 ) C1C5 S1 (C234a4 C23a3 C2 a2 )
C1S5C6
S 234C5C6 C234C6
S 234S5
S 234a4 S 23a3 S 2 a2
0
0
1
Chapter 2
Robot Kinematics: Position Analysis
nx
1 n y
A1
nz
ox a x p x
o y a y p y
A11[ RHS ] A2 A3 A4 A5 A6
oz a z p z
0 0 1
C1 S1
0 0
S1 C1
0 0
0 0 n x
1 0 n y
0 0 n z
0 1 0
ox a x p x
o y a y p y
A2 A3 A4 A5 A6
oz a z p z
0 0 1
Chapter 2
Robot Kinematics: Position Analysis
py
px
1 tan 1
2 tan 1
S3
C
3
3 tan 1
4 234 2 3
5 tan 1
6 tan 1
Chapter 2
Robot Kinematics: Position Analysis
Chapter 2
Robot Kinematics: Position Analysis
Chapter 2
Robot Kinematics: Position Analysis
2.12 THE FUNDAMENTAL PROBLEM WITH D-H REPRESENTATION
Defect of D-H presentation : D-H cannot represent any motion about
the y-axis, because all motions are about the x- and z-axis.
TABLE 2.3 THE PARAMETERS TABLE FOR THE
STANFORD ARM
-90
d1
90
d1
-90
90