Presentation robotic systems

6 Computers and Automation Engineering – “Robotic Systems”




Robotic Systems
Forward Kinematics

, 𝑨𝒙𝒊𝒔 𝒊 + 𝟏
DENAVIT-HARTENBERG PARAMETERS
𝑨𝒙𝒊𝒔 𝒊
𝑱𝒐𝒊𝒏𝒕
𝑨𝒙𝒊𝒔 𝒊 − 𝟏 𝑱𝒐𝒊𝒏𝒕 𝒊+𝟏
𝒊

𝑱𝒐𝒊𝒏𝒕 𝒍𝒊𝒏𝒌 𝒊 − 𝟏
𝒊−𝟏 𝒍𝒊𝒏𝒌 𝒊
𝑎𝑖+1



𝒅𝒊+𝟏
𝒂𝒊
𝒂𝒊−𝟏
𝒅𝒊
𝜶𝒊−𝟏
𝜽𝒊
𝜶𝒊
a i  0 usually choos
 i , d i ,  i are signed q

Robotic 20-21 / Dr. Aghiad Kh. (email: )

, DENAVIT-HARTENBERG PARAMETERS FOR JOINT ( 𝒊 ) 𝑨

𝑨𝒙𝒊𝒔 𝒊 − 𝟏
𝑱𝒐𝒊𝒏𝒕 𝒊
a i  the distance 𝑱𝒐𝒊𝒏𝒕 𝒊 − 𝟏
𝒍𝒊𝒏𝒌 𝒊 − 𝟏

from Zˆ to Zˆ measured along Xˆ
i i 1 i 𝒁𝒊−𝟏
𝒁𝒊
 i  the angle 𝒀𝒊−𝟏 𝒀𝒊

from Zˆ i to Zˆ i 1 measured about Xˆ i 𝑿𝒊−𝟏
𝑿𝒊
{𝒊 − 𝟏} {𝒊}

d i  the distance 𝒂𝒊−𝟏 𝒅𝒊
𝜶𝒊−𝟏 𝜽𝒊
from Xˆ to Xˆ measured along Zˆ
i 1 i i



 i  the angle
from Xˆ i 1 to Xˆ i measured about Zˆ i

Robotic 20-21 / Dr. Aghiad Kh. (email: )