26/11/2015

Lecture16

Lecture16
16311IntroductiontoRobotics
Prof.HowieChoset
DenavitHartenbergNotes:
Assigningcoordinatesystems:
AssignZialongtheaxisofjointi.
Forarevolutejoint,thejointaxisisalongtheaxisofrotation.
Foraprismaticjoint,thejointaxisisalongtheaxisoftranslation.
ChooseXitopointalongthecommonperpendicularofZiandZi+1pointingtowardsthenextjoint.
ifZiandZi+1intersect,thenchooseXitobenormaltotheplaneofintersection.
ChooseYitoroundoutarighthandcoordinatesystem.
TheYaxisisnotusedforDenavitHartenbergsoitisusuallynotdrawnintheinterestoflessclutter.
DHparameters
ai1:distancefromZi1toZialongXi1
:anglefromZi1toZiaboutXi1
di:distancefromXi1toXialongZi
:anglefromXi1toXiaboutZi
TransformationMatrixfromDHparameters:

DenavitHartenbergexamples:
Example1:RotationCCWispos,RotationClockwisewithXintothepaperisRotationCCW,jointvariablesabout
Zaxis

Example2:Wristhas3DOFthatmeetatacommonorigin

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Lecture16

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