A simple and systematic approach to assigning Denavit-Hartenberg Parameters

Corke, Peter (2007) A simple and systematic approach to assigning Denavit-Hartenberg Parameters. IEEE Transactions on Robotics, 23(3), pp. 590-594.

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This paper presents a simple and intuitive approach to determining the kinematic parameters of a serial-link robot in Denavit– Hartenberg (DH) notation. Once a manipulator’s kinematics is parameterized in this form, a large body of standard algorithms and code implementations for kinematics, dynamics, motion planning, and simulation are available. The proposed method has two parts. The first is the “walk through,” a simple procedure that creates a string of elementary translations and rotations, from the user-defined base coordinate to the end-effector. The second step is an algebraic procedure to manipulate this string into a form that can be factorized as link transforms, which can be represented in standard or modified DH notation. The method allows for an arbitrary base and end-effector coordinate system as well as an arbitrary zero joint angle pose. The algebraic procedure is amenable to computer algebra manipulation and a Java program is available as supplementary downloadable material.

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18 citations in Scopus
9 citations in Web of Science®
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ID Code: 33799
Item Type: Journal Article
Refereed: Yes
Keywords: Denavit–Hartenberg (DH), kinematics, Java program, manipulator kinematics, manipulator dynamics , computer algebra , end-effector coordinate system, link transform, motion planning, serial-link robot
DOI: 10.1109/TRO.2007.896765
ISSN: 1552-3098
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2007 IEEE
Copyright Statement: Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Deposited On: 02 Sep 2010 06:05
Last Modified: 29 Feb 2012 14:11

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