Modified Denavit-Hartenberg Parameters for Better Location of Joint Axis Systems in Robot ArmsNational Aeronautics and Space Administration, Scientific and Technical Information Branch, 1986 - Robotics - 27 pages |
Common terms and phrases
Absolute error algebraic method approach a parallel axes be normal circular trajectory components 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 NASA near-parallel rotational axes normal to Zi-1 normal vector ORIGIN OF ELBOW-JOINT parallel condition PARAMETERS THAT LOCATE point on robot 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-joint axis system simulated measurement data successive joint axis successive joint rotational Transverse vector normal unit vector vector ₁ vector between successive vector from world world coordinate system X₁ Z₁ Z₂ Zi-1 and Zi მე ძვ