D-H algorithm
Lecture
slide-8
Presented by-
Name: Sinkia Akter
Roll: 19CSE026
Content
Joint Parameter
Link Parameter
Kinematics parameter
Normal ,Sliding and Approach vector
Forward Kinematics
D-H algorithm
What is DH algorithm?
The Denavit-Hartenberg (DH) algorithm is a method for describing the
kinematic chains of robotic arms.
It uses four parameters to define the transformation between adjacent
links.
It is used to calculate the kinematics and dynamics of robots.
Joint Parameter
The relative position and orientation of
two successive links can be specified
by two joint parameter.
Example: In a robotic arm,the rotation
Joint K-1
of an elbow joint or the extension of a
telescopic segment is defined by joint
d𝜃
parameters.
Link: https
://youtu.be/FMWFDBhL6FQ?si=j2EuSas21dRezRxk
Joint Parameter
1.Joint Angles: Joint angle represents the
angular displacement of a joint from its
reference position.
2.joint distance: Joint distance is the
distance between the centers of adjacent
joints.here,𝑑𝑘is the joint angle.
Link Parameter
The relative position and orientation of
two successive joints can be specified by
two link parameter.
Example: The length of a robotic arm
Joint K-1
segment or the twist angle between two Joint K
connected segments is defined by link
parameters.
Link Parameter
𝑘 𝑘− 1
1.Link length: is the translation along𝑋 needed to make axis𝑍
Intersect𝑍 𝑘.
2.Twist angle : is the rotation of 𝑋 𝑘needed to make axis𝑍 𝑘− 1parallel
with 𝑍 𝑘.
***These parameters are constant, as they are determined by
the robot's physical structure.
Kinematics parameter
For n-axis robot
manipulator,the 4n kinematic
parameters constitute the
minimal set needed to specify
the kinematic configuration of the
robot.
Normal,Sliding and Approach vector
Normal vector: Represents the direction per-
pendicular to the tool's surface (or the x-axis
of the end-effector's coordinate frame).
Sliding Vector: Represents the direction
parallel to the tool's primary axis of movement
(or the y-axis of the end-effector's coordinate
frame).
Approach Vector: Represents the direction
along which the tool approaches the workpiece
or performs operations (or the z-axis of the
end-effector's coordinate frame ).
Normal,Sliding and Approach vector
The orientation of a tool can be represented in
joint Coordinates by YPR convention.
In Rectangular or Cartesian coordinates the
same can be represented by a rotation
matrixR= [r^1,r^2,r^3] where columns of R
correspond to the normal,sliding and approach
vectors.
Yaw,Pitch and Roll motions are rotations
about normal ,sliding and approach vectors.
Direct(Forward) Kinematics
In order to manipulate objects in space, it is required to control both
position and orientation of the tool/end effector in three dimension
space.
A relationship between the joint variables and the position and
orientation of the tool id to be formed.
Direct Kinematics Problem:
Given the vector of joint variables of a robotic manipulator, determine the position
and orientation of the tool with respect to a coordinate frame attached to the robot base.
1. Number the joints from 1 to n starting with the base and ending with the tool yaw,
pitch, and roll in that order.
2.Assign a right-handed orthonormal coordinate frame𝐿 ( 0 ) to the robot base, making
0
sure that𝑍 aligns with the axis of joint 1. Set k=1.
Direct(Forward) Kinematics
𝐿1 Joint 3 𝑋3
Joint 2
𝑏1 𝐿2 3
3 𝐿 𝑛𝑍
𝑦
0
𝑦
Joint 1
Direct(Forward) Kinematics
𝑘
3. Align𝑍 with the axis of joint k+1.
4. Locate origin of 𝐿 𝑘at the intersection of the 𝑍 and 𝑍 𝑘− 1. .
𝑘
𝑘 𝑘− 1
5. Select 𝑋 𝑘to be orthogonal to both𝑍 and𝑍 𝑘−. 1 If and 𝑍 are
parallel, point 𝑋 𝑘 away from𝑍 𝑘− 1.
6. Select 𝑦 𝑘 to form a right handed coordinate frame 𝐿 𝑘.
7. Set k = k+1, if k < n then go to step 2, else continue.
8. Set the origin of 𝐿 𝑛 at the tool tip. Align with the approach vector,
with the sliding vector, and with the normal vector of the tool. Set k=1.
9. Locate point 𝑏 𝑘at the intersection of 𝑋 𝑘 and𝑍 𝑘− axes.1 If they do not intersect,
𝑘 𝑘
use the intersection of𝑋 with a common normal between 𝑋 and .
Direct(Forward) Kinematics
𝑘
10. Compute θk as the angle of rotation from𝑥 𝑘− 1to 𝑋 measured about 𝑍 𝑘− 1
.
11. Computed dk as the distance from the origin frame 𝐿 𝑘 to point𝑏 𝑘 measured
along
𝑍 𝑘− 1.
12. Compute ak as the distance from the point 𝑏 to the origin of frame 𝐿 measured
𝑘 𝑘
along 𝑘
𝑋 .
13. Compute𝛼 k as the angle of rotation from 𝑍 𝑘− 1to measured about 𝑋 𝑘.
14. Set k = k+1, if k < = n, go to step 9; else stop.
Direct(Forward) Kinematics
Thank you Everyone!
