Modified Denavit-Hartenberg Parameters for Better Location of Joint Axis Systems in Robot ArmsNational Aeronautics and Space Administration, Scientif. and Techn. Information Branch, 1986 - 30 pages |
Common terms and phrases
a₂ Absolute error algebraic method approach a parallel arm about line axes be normal B₂ component of ₁ cross product Ď₂ dot product elbow and shoulder elbow-joint angles elbow-joint axis system ELBOW-JOINT ROTATIONAL AXIS equations 19 ill-conditioned transformation matrix intersection joint angle joint axis systems joint rotational axes Keith Barker Langley Research Center line of rotation locate the elbow-joint location of successive measured positive Modified Denavit-Hartenberg Parameters modified parameters near-parallel rotational axes normal to Zi-1 normal vector ORIGIN OF ELBOW-JOINT parallel condition PARAMETERS THAT LOCATE point on robot r₂ regular and modified regular Denavit-Hartenberg parameters relative location respect right-hand axis system robot arm robot hand rotation for joint rotational axis Z2 shoulder joints shoulder-joint axis system simulated measurement data sin ai successive joint axis successive joint rotational Transverse vector normal unit vector vector from world world coordinate system Zi-1 and Zi ძვ