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Denavit Hartenberg Kinematics

The document introduces the Denavit-Hartenberg (DH) convention for attaching reference frames to the joints of robotic manipulators. The DH convention uses four parameters to describe the transformation between adjacent reference frames: (1) joint offset (di), (2) joint angle (θi), (3) link length (ai), and (4) twist angle (αi). Homogeneous transformation matrices are formed using these DH parameters to relate the coordinates of one frame to another and solve for the forward kinematics of robotic manipulators. Examples of applying the DH convention to 2-degree of freedom and 3-degree of freedom robotic arms are provided.

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136 views32 pages

Denavit Hartenberg Kinematics

The document introduces the Denavit-Hartenberg (DH) convention for attaching reference frames to the joints of robotic manipulators. The DH convention uses four parameters to describe the transformation between adjacent reference frames: (1) joint offset (di), (2) joint angle (θi), (3) link length (ai), and (4) twist angle (αi). Homogeneous transformation matrices are formed using these DH parameters to relate the coordinates of one frame to another and solve for the forward kinematics of robotic manipulators. Examples of applying the DH convention to 2-degree of freedom and 3-degree of freedom robotic arms are provided.

Uploaded by

hasda
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Robotics

05
Modul ke:

Fakultas
TEKNIK
Denavit Hartenberg
Program Studi
TEKNIK
ELEKTRO
Zendi Iklima ST, SKom, MSc
Denavit-Hartenberg Convention
In 1955, the key concepts of kinematic for serial-link
manipulator introduced by Jacques Denavit and Richard
Hartenberg. A coordinates system attached between the
links of manipulator, follows:

• The joint 𝑖 + 1 intersected with the origin coordinate


system 𝑖 between axis joint 𝑖 and 𝑖 + 1.
• The 𝑥𝑖 axis is aligned by the common normal of joint link
axis 𝑖 and 𝑖 + 1 and the point itself.
• The 𝑦𝑖 axis is determined by use of the right-hand rule.
• The 𝑧𝑖 axis is aligned with the axis of the joint 𝑖 + 1. The
positive direction can be chosen arbitrarily.
Denavit-Hartenberg Parameters
Denavit-Hartenberg Parameters
The Denavit Hartenberg (DH) associated with a particular convention
for attaching reference frames to the spatial kinematic chain link,
which consists of [14, 15, 28, 54, 58, 59, 62]:

• Join offset (𝑑𝑖 ): Offset distance among the common normal of the
axis of 𝑗𝑜𝑖𝑛 𝑖 − 1 to 𝑗𝑜𝑖𝑛 𝑖 and the common normal of the axis of
𝑗𝑜𝑖𝑛 𝑖 to 𝑗𝑜𝑖𝑛 𝑖+1 (𝑋𝑖−1 𝑡𝑜 𝑋𝑖 𝑜𝑣𝑒𝑟 𝑍𝑖 𝑎𝑛𝑑 𝑋𝑖 𝑡𝑜 𝑋𝑖+1 𝑜𝑣𝑒𝑟 𝑍𝑖+1 ).
• Join angle (𝜃𝑖 ): An angle measured among the common normal of
the axis of 𝑗𝑜𝑖𝑛 𝑖 − 1 to 𝑗𝑜𝑖𝑛 𝑖 and the common normal of the axis
of 𝑗𝑜𝑖𝑛 𝑖 to 𝑗𝑜𝑖𝑛 𝑖+1 (𝑋𝑖−1 𝑡𝑜 𝑋𝑖 𝑜𝑣𝑒𝑟 𝑍𝑖 𝑎𝑛𝑑 𝑋𝑖 𝑡𝑜 𝑋𝑖+1 𝑜𝑣𝑒𝑟 𝑍𝑖+1 ).
• Link length (𝑎𝑖 ): The length of the link is common normal length
between the axis of 𝑗𝑜𝑖𝑛 𝑖 − 1 and 𝑗𝑜𝑖𝑛 𝑖 (𝑍𝑖−1 𝑡𝑜 𝑍𝑖 𝑜𝑣𝑒𝑟 𝑋𝑖 ).
• Twist angle (𝛼𝑖 ): Twist of the link is an angle measured between the
axis of 𝑗𝑜𝑖𝑛 𝑖 − 1 and 𝑗𝑜𝑖𝑛 𝑖 (𝑍𝑖−1 𝑡𝑜 𝑍𝑖 𝑜𝑣𝑒𝑟 𝑋𝑖 ).
Homogeneous Transformation Matrices

Transformation matrices established through 2 successive are rotations and


translations of the (𝑖 − 1)𝑡ℎ coordinate system explained below [54, 56, 59]:
• Distance 𝑑𝑖 translated the (𝑖 − 1)𝑡ℎ coordinate system along 𝑍𝑖−1 axis is:

• Angle 𝜃𝑖 rotated displaced coordinate system about 𝑍𝑖−1 axis, the displaced 𝑋𝑖−1
axis aligned with 𝑋𝑖 axis is:
Homogeneous Transformation Matrices

• Distance 𝑎𝑖 translated displaced coordinate system along 𝑋𝑖−1 axis is:

• Angle 𝛼𝑖 rotated displaced coordinate system about 𝑋𝑖−1 axis, the displaced 𝑍𝑖−1
axis aligned with 𝑍𝑖 axis is:
Homogeneous Transformation Matrices

Transformation matrix result is [15, 54, 56, 58]:


Example in 2DoF Robot
𝜃𝑛 = 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛 𝑎𝑟𝑜𝑢𝑛𝑑 𝑍𝑛−1
𝐽𝑜𝑖𝑛𝑡 𝑉𝑎𝑟𝑖𝑎𝑏𝑙𝑒 𝑖𝑓 𝑗𝑜𝑖𝑛𝑡 𝑛 −
1 𝑖𝑠 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑒

𝑟𝑛 = 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑎𝑙𝑜𝑛𝑔 𝑋𝑛

𝛼𝑛 = 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛 𝑎𝑟𝑜𝑢𝑛𝑑 𝑋𝑛
𝑇ℎ𝑒 𝑎𝑛𝑔𝑙𝑒 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑍𝑛−1
𝑎𝑛𝑑 𝑍𝑛−1 𝑎𝑟𝑜𝑢𝑛𝑑 𝑋𝑛
𝑑𝑛 = 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑎𝑙𝑜𝑛𝑔 𝑍𝑛−1
𝐽𝑜𝑖𝑛𝑡 𝑉𝑎𝑟𝑖𝑎𝑏𝑙𝑒 𝑖𝑓 𝑗𝑜𝑖𝑛𝑡
𝑡ℎ𝑒𝑛 𝑝𝑟𝑖𝑠𝑚𝑎𝑡𝑖𝑐
Example in 2DoF Robot
Example in 2DoF Robot (FK)
Example in 2DoF Robot
Example in 2DoF Robot
Example in 3DoF Robot
http://www.roboanalyzer.com/downloads.html
Code Editors
Example in 3DoF Robot
Example in 3DoF Robot
Example in 3DoF Robot
Simplification
Example in 3DoF Robot
Example in 3DoF Robot
Example in 3DoF Robot
Example in 3DoF Robot
Example in 3DoF Robot
Example in 3DoF Robot
Example in 3DoF Robot
http://www.roboanalyzer.com/downloads.html
Example in 3DoF Robot
Example in 3DoF Robot
Example in 3DoF Robot
Example in 3DoF Robot
Exercise
Map the DH Parameters!
How the Forward Kinematic Looks Like?
How the Inverse Kinematic Looks Like?
Simulate it!
Exercise
𝒚𝟏 𝒚𝟐

𝒛𝟏 𝒙𝟏 𝒙𝟐
𝒛𝟐

𝒂𝟏
𝒛𝒐

𝒚𝒐

𝒙𝒐
𝒂𝟐
Terima Kasih
Zendi Iklima ST, SKom, MSc

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