Classical Vs

Modified DH
method
Summary and a solved example

Dr. Tayyab Zafar

MTS-417 Introduction to Robotics
Modified DH
Parameters
• In our textbook, modified DH
parameters are used.
• Summary of the modified DH
parameters are given in Lecture 3
and Lecture 4 which is also given
here.
Summary Of Link-frame Attachment Procedure
1. Identify the joint axes and imagine (or draw) infinite lines along them. For steps 2
through 5 below, consider two of these neighboring lines (at axes i and i + 1).
2. Identify the common perpendicular between them or point of intersection. At the
point of intersection, or at the point where the common perpendicular meets the ith
axis, assign the link-frame origin.
3. Assign the 𝑍መ𝑖 axis pointing along the ith joint axis.
4. Assign the 𝑋෠𝑖 axis pointing along the common perpendicular, or, if the axes intersect,
assign 𝑋෠𝑖 to be normal to the plane containing the two axes.
5. Assign the 𝑌෠𝑖 axis to complete a right-hand coordinate system.
6. Assign {0} to match {1} when the first joint variable is zero. For {N}, choose an origin
location and 𝑋෠𝑁 direction freely, but generally so as to cause as many linkage
parameters as possible to become zero.
SCARA Robot
• SCARA Robot is short for Selective Compliance Assembly Robot Arm
or Selective Compliance Articulated Robot Arm

• The SCARA robot is most commonly used for pick-and-place or

assembly operations where high speed and high accuracy is required

5
 SCARA Robot a1 a2

• Draw line diagram of the robot

d3
d1 Link 1 Link 2
Link 2
Link 3
Link 1 Link 3 d5
Link 0

Link 4
Link 0
Link 4

6
SCARA Robot a1 a2
• Draw infinite lines passing
through the joint axes
d3
d1 𝜃3
𝜃2
d5
𝜃4
𝜃1

7
 𝑍2 𝑍3 , 𝑍4
𝑍1
SCARA Robot a1 a2
• Name the location of
joint axes along infinite
lines d3
d1 𝜃3
𝜃2
d5
𝜃4
𝜃1

8
SCARA Robot 𝒁1
a1 a2

• Mark frames origins and

assign 𝑍 directions
𝒁2
d3
• 𝑍2 (and onwards) directions d1 𝜃3
can be taken upwards or
downwards. We take it 𝜃2 𝒁𝟑 , 𝒁𝟒
downwards, as it is an
assembly robot. d5
𝜃4
𝜃1
• 𝑍2 and 𝑍3 are parallel,
infinite perpendicular exists
between them. Hence, we 𝒁𝟓
chose this 𝑍2 origin

• As 𝑍3 is prismatic joint,
hence we chose the origin as
shown In modified DH method, we assign frames to the left side of the links
9
SCARA Robot 𝒁1
a1 a2
• Assign 𝑋 axes directions 𝑿1 𝑿2
• 𝑍1 and 𝑍2 are parallel, 𝒁2
hence we draw 𝑋1 along
d1
link length. Same is the 𝜃3 𝑿 3 , 𝑿𝟒
case with 𝑋2 𝜃2 𝒁𝟑 , 𝒁𝟒
• 𝑍3 and 𝑍4 are d5
intersecting, hence, 𝜃4
𝜃1
𝑋4 should be their
𝒁0 𝑿5
perpendicular. Same is
the case with 𝑋4 𝑿0 𝒁𝟓

• 𝑋5 direction is chosen
to be parallel with 𝑋4

10
 SCARA Robot 𝒁1
a1 a2

𝑎𝑖−1 = 𝑡ℎ𝑒 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑓𝑟𝑜𝑚 𝑍መ𝑖−1 𝑡𝑜𝑍መ𝑖 𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑑 𝑎𝑙𝑜𝑛𝑔 𝑋෠𝑖−1 𝑿1 𝑿2

𝛼𝑖−1 = 𝑡ℎ𝑒 𝑎𝑛𝑔𝑙𝑒 𝑓𝑟𝑜𝑚 𝑍መ𝑖−1 𝑡𝑜𝑍መ𝑖 𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑑 𝑎𝑙𝑜𝑛𝑔 𝑋෠𝑖−1 𝒁2

𝑑𝑖 = 𝑡ℎ𝑒 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑓𝑟𝑜𝑚 𝑋෠𝑖−1 𝑡𝑜 ෡𝑋𝑖 𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑑 𝑎𝑙𝑜𝑛𝑔 𝑍መ𝑖 d1 𝜃3 𝑿 3 , 𝑿𝟒

𝜃𝑖 = 𝑡ℎ𝑒 𝑎𝑛𝑔𝑙𝑒 𝑓𝑟𝑜𝑚 𝑋෠𝑖−1 𝑡𝑜 𝑋෠𝑖 𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑑 𝑎𝑙𝑜𝑛𝑔 𝑍𝑖 𝜃2 𝒁𝟑 , 𝒁𝟒
d5
𝜃4
Link ai-1 𝜶i-1 di 𝜽i 𝜃1
𝒁0 𝑿5
1 0 0 d1 𝜽1
𝑿0 𝒁𝟓
2 a1 180o 0 𝜽2
3 a2 0 d3 (var) 0
4 0 0 0 𝜽4
5 0 0 d5 0
11
 Link ai-1 𝜶i-1 di 𝜽i
1 0 0 d1 𝜽1

SCARA Robot 2
3
a1
a2
180o
0
0
d3 (var)
𝜽2
0
Modified DH parameters 4 0 0 0 𝜽4
transformation matrix 5 0 0 d5 0
Forward Kinematics
𝑐1 −𝑠1 0 0 𝑐2 −𝑠2 0 𝑎1 1 0 0 𝑎2
0 𝑠1 𝑐1 0 0 1 −𝑠2 −𝑐2 0 0 2 0 1 0 0
1 𝑇 = 2 𝑇 = 3 𝑇 =
0 0 1 𝑑1 0 0 −1 0 0 0 1 𝑑3
0 0 0 1 0 0 0 1 0 0 0 1

𝑐4 −𝑠4 0 0 1 0 0 0
0
3
4 𝑇 =
𝑠4 𝑐4
0 0
0 0 4
5 𝑇 =
0
0
1
0
0 0
1 𝑑5 5𝑇 = 01𝑇 12𝑇 23𝑇 34𝑇 45𝑇
1 0
0 0 0 1 0 0 0 1

12
Classical DH method
• There are three major differences:
1. The frames are attached to the right side of the links
2. In the DH parameters, classical method use 𝑎𝑖 and 𝛼𝑖 instead of 𝑎𝑖−1 and 𝛼𝑖−1
3. General transformation matrix is different
Classical Vs Modified DH method
• Classical • Modified

Frame {1} Frame {1} Link 1

Link 1

Link 𝒂𝒊 𝜶𝒊 𝒅𝒊 𝜽𝒊 Link 𝒂𝒊−𝟏 𝜶𝒊−𝟏 𝒅𝒊 𝜽𝒊

1 - - - - 1 - - - -
2 - - - - 2 - - - -
Classical DH parameters a1 a2

• Draw line diagram of the robot

d3
d1 Link 1 Link 2

Link 3 d5
Link 0

Link 4
SCARA Robot a1 a2
• Draw infinite lines passing
through the joint axes
d3
d1 𝜃3
𝜃2
d5
𝜃4
𝜃1

16
 𝑍1 𝑍2 , 𝑍3

SCARA Robot a1 a2
• Name the location of
joint axes along infinite
lines d3
d1 𝜃3
𝜃2
d5
𝜃4
𝜃1

17
SCARA Robot a1 a2

• Mark frames origins and

assign 𝑍 directions
𝒁1 𝒁𝟐
d3
• 𝑍2 (and onwards) directions d1 𝜃3
can be taken upwards or
downwards. We take it 𝜃2 𝒁𝟑
downwards, as it is an
assembly robot. d5
𝜃4
𝜃1
• 𝑍2 and 𝑍3 are parallel,
infinite perpendicular exists
between them. Hence, we 𝒁𝟒
chose this 𝑍2 origin

• As 𝑍3 is prismatic joint,
hence we chose the origin as
shown In classical DH method, we assign frames to the right side of the links
18
SCARA Robot a1 a2
• Assign 𝑋 axes directions 𝑿1 𝑿2
• 𝑍1 and 𝑍2 are parallel, 𝒁1 𝒁2
hence we draw 𝑋1 along
d1
link length. Same is the 𝜃3 𝑿3
case with 𝑋2 𝜃2 𝒁𝟑
• 𝑍3 and 𝑍4 are d4
intersecting, hence, 𝜃4
𝜃1
𝑋4 should be their
𝒁0 𝑿4
perpendicular. Same is
the case with 𝑋4 𝑿0 𝒁𝟒

• 𝑋5 direction is chosen
to be parallel with 𝑋4

19
 SCARA Robot a1 a2

𝑎𝑖 = 𝑡ℎ𝑒 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑓𝑟𝑜𝑚 𝑍መ𝑖−1 𝑡𝑜 𝑍መ𝑖 𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑑 𝑎𝑙𝑜𝑛𝑔 𝑋෠𝑖−1 𝑿1 𝑿2

𝛼𝑖 = 𝑡ℎ𝑒 𝑎𝑛𝑔𝑙𝑒 𝑓𝑟𝑜𝑚 𝑍መ𝑖−1 𝑡𝑜 𝑍መ𝑖 𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑑 𝑎𝑙𝑜𝑛𝑔 𝑋෠𝑖−1 𝒁1 𝒁2
𝑑𝑖 = 𝑡ℎ𝑒 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑓𝑟𝑜𝑚 𝑋෠𝑖−1 𝑡𝑜 ෡𝑋𝑖 𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑑 𝑎𝑙𝑜𝑛𝑔 𝑍መ𝑖 d1 𝜃3 𝑿3
𝜃𝑖 = 𝑡ℎ𝑒 𝑎𝑛𝑔𝑙𝑒 𝑓𝑟𝑜𝑚 𝑋෠𝑖−1 𝑡𝑜 𝑋෠𝑖 𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑑 𝑎𝑙𝑜𝑛𝑔 𝑍𝑖 𝜃2 𝒁𝟑
d4
𝜃4
𝜃1
Link 𝒂𝒊 𝜶𝒊 𝒅𝒊 𝜽𝒊 𝒁0 𝑿4
1 𝑎1 180 𝑑1 𝜃1
𝑿0 𝒁𝟒
2 𝑎2 0 0 𝜃2
3 0 0 𝑑3 0
4 0 0 𝑑4 𝜃4

20
 Classical Vs Modified DH Parameters
a1 a2
𝒁1 𝑿1 𝑿2 a1 a2
𝑿1 𝑿2
𝒁2
d 𝑿3 , 𝑿𝟒 𝒁1 𝒁2

Classical DH Parameters
𝜃3
Modified DH Parameters

1 𝜃2 𝒁𝟑 , 𝒁𝟒 d1 𝑿3
𝜃3
d5 𝜃2 𝒁𝟑
𝜃1 𝜃4
𝒁0 𝑿5 d4
𝜃1 𝜃4
𝑿0 𝒁𝟓
𝒁0 𝑿4
𝑿0 𝒁𝟒
Link ai-1 𝜶i-1 di 𝜽i
Link 𝒂𝒊 𝜶𝒊 𝒅𝒊 𝜽𝒊
1 0 0 d1 𝜽1 1 𝑎1 180 𝑑1 𝜽𝟏
2 a1 180o 0 𝜽2 2 𝑎2 0 0 𝜽𝟐
3 a2 0 d3 (var) 0 3 0 0 𝑑3 (𝑣𝑎𝑟) 0
4 0 0 0 𝜽4 4 0 0 𝑑4 𝜽𝟒
5 0 0 d5 0